com.acmerobotics.roadrunner.trajectory

Class PathTrajectorySegment

com.acmerobotics.roadrunner.trajectory.PathTrajectorySegment

All Implemented Interfaces:

TrajectorySegment

public class PathTrajectorySegment
implements TrajectorySegment

Trajectory segment backed by a list of class Path objects.

See Also:

class Path

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	PathTrajectorySegment.Companion

Field Summary

Fields

Modifier and Type	Field and Description
static PathTrajectorySegment.Companion	Companion

Constructor Summary

Constructors

Constructor and Description
PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths, MotionProfile profile) Trajectory segment backed by a list of class Path objects.
PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths, java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> trajectoryConstraintsList, MotionState start, MotionState goal, double resolution)
PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths, java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> trajectoryConstraintsList, MotionState start, MotionState goal)
PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths, java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> trajectoryConstraintsList, MotionState start)
PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths, java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> trajectoryConstraintsList)
PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths)
PathTrajectorySegment()
PathTrajectorySegment(Path path, TrajectoryConstraints trajectoryConstraints, MotionState start, MotionState goal, double resolution)
PathTrajectorySegment(Path path, TrajectoryConstraints trajectoryConstraints, MotionState start, MotionState goal)
PathTrajectorySegment(Path path, TrajectoryConstraints trajectoryConstraints, MotionState start)
PathTrajectorySegment(Path path, TrajectoryConstraints trajectoryConstraints)
PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths, DriveConstraints constraints, MotionState start, MotionState goal)
PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths, DriveConstraints constraints, MotionState start)
PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths, DriveConstraints constraints)
PathTrajectorySegment(DriveConstraints constraints)
PathTrajectorySegment(Path path, DriveConstraints constraints, MotionState start, MotionState goal)
PathTrajectorySegment(Path path, DriveConstraints constraints, MotionState start)
PathTrajectorySegment(Path path, DriveConstraints constraints)

Method Summary

Modifier and Type	Method and Description
Pose2d	acceleration(double time) Returns the pose acceleration at the given time.
double	duration() Returns the duration of the segment.
Pose2d	get(double time) Returns the pose at the given time.
java.util.List<com.acmerobotics.roadrunner.path.Path>	getPaths() paths
MotionProfile	getProfile() motion profile
Pose2d	velocity(double time) Returns the pose velocity at the given time.

Methods inherited from interface com.acmerobotics.roadrunner.trajectory.TrajectorySegment

acceleration, duration, get, velocity

Field Detail

Companion

public static PathTrajectorySegment.Companion Companion

Constructor Detail

PathTrajectorySegment

public PathTrajectorySegment(@NotNull
                             java.util.List<com.acmerobotics.roadrunner.path.Path> paths,
                             @NotNull
                             MotionProfile profile)

Trajectory segment backed by a list of class Path objects.

Parameters:

paths - paths

profile - motion profile

See Also:

class Path

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           java.util.List<com.acmerobotics.roadrunner.path.Path> paths,
                                           @NotNull
                                           java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> trajectoryConstraintsList,
                                           @NotNull
                                           MotionState start,
                                           @NotNull
                                           MotionState goal,
                                           double resolution)

Parameters:

paths - paths

trajectoryConstraintsList - list of trajectory constraints

start - profile start state

goal - profile goal (end) state

resolution - resolution for the motion profile

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           java.util.List<com.acmerobotics.roadrunner.path.Path> paths,
                                           @NotNull
                                           java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> trajectoryConstraintsList,
                                           @NotNull
                                           MotionState start,
                                           @NotNull
                                           MotionState goal)

Parameters:

paths - paths

trajectoryConstraintsList - list of trajectory constraints

start - profile start state

goal - profile goal (end) state

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           java.util.List<com.acmerobotics.roadrunner.path.Path> paths,
                                           @NotNull
                                           java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> trajectoryConstraintsList,
                                           @NotNull
                                           MotionState start)

Parameters:

paths - paths

trajectoryConstraintsList - list of trajectory constraints

start - profile start state

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           java.util.List<com.acmerobotics.roadrunner.path.Path> paths,
                                           @NotNull
                                           java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> trajectoryConstraintsList)

Parameters:

paths - paths

trajectoryConstraintsList - list of trajectory constraints

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           java.util.List<com.acmerobotics.roadrunner.path.Path> paths)

Parameters:

paths - paths

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment()

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           Path path,
                                           @NotNull
                                           TrajectoryConstraints trajectoryConstraints,
                                           @NotNull
                                           MotionState start,
                                           @NotNull
                                           MotionState goal,
                                           double resolution)

Parameters:

path - path

trajectoryConstraints - trajectory constraints

resolution - resolution for the motion profile

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           Path path,
                                           @NotNull
                                           TrajectoryConstraints trajectoryConstraints,
                                           @NotNull
                                           MotionState start,
                                           @NotNull
                                           MotionState goal)

Parameters:

path - path

trajectoryConstraints - trajectory constraints

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           Path path,
                                           @NotNull
                                           TrajectoryConstraints trajectoryConstraints,
                                           @NotNull
                                           MotionState start)

Parameters:

path - path

trajectoryConstraints - trajectory constraints

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           Path path,
                                           @NotNull
                                           TrajectoryConstraints trajectoryConstraints)

Parameters:

path - path

trajectoryConstraints - trajectory constraints

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           java.util.List<com.acmerobotics.roadrunner.path.Path> paths,
                                           @NotNull
                                           DriveConstraints constraints,
                                           @NotNull
                                           MotionState start,
                                           @NotNull
                                           MotionState goal)

Parameters:

paths - paths

constraints - drive constraints

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           java.util.List<com.acmerobotics.roadrunner.path.Path> paths,
                                           @NotNull
                                           DriveConstraints constraints,
                                           @NotNull
                                           MotionState start)

Parameters:

paths - paths

constraints - drive constraints

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           java.util.List<com.acmerobotics.roadrunner.path.Path> paths,
                                           @NotNull
                                           DriveConstraints constraints)

Parameters:

paths - paths

constraints - drive constraints

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           DriveConstraints constraints)

Parameters:

constraints - paths

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           Path path,
                                           @NotNull
                                           DriveConstraints constraints,
                                           @NotNull
                                           MotionState start,
                                           @NotNull
                                           MotionState goal)

Parameters:

path - path

constraints - drive constraints

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           Path path,
                                           @NotNull
                                           DriveConstraints constraints,
                                           @NotNull
                                           MotionState start)

Parameters:

path - path

constraints - drive constraints

PathTrajectorySegment

@JvmOverloads
public PathTrajectorySegment(@NotNull
                                           Path path,
                                           @NotNull
                                           DriveConstraints constraints)

Parameters:

path - path

constraints - drive constraints

Method Detail

duration

public double duration()

Returns the duration of the segment.

get

@NotNull
public Pose2d get(double time)

Returns the pose at the given time.

See Also:

time

velocity

@NotNull
public Pose2d velocity(double time)

Returns the pose velocity at the given time.

See Also:

time

acceleration

@NotNull
public Pose2d acceleration(double time)

Returns the pose acceleration at the given time.

See Also:

time

getPaths

@NotNull
public java.util.List<com.acmerobotics.roadrunner.path.Path> getPaths()

paths

getProfile

@NotNull
public MotionProfile getProfile()

motion profile