com.acmerobotics.roadrunner.trajectory

Class PointTurn

com.acmerobotics.roadrunner.trajectory.PointTurn

All Implemented Interfaces:

TrajectorySegment

public class PointTurn
implements TrajectorySegment

Point turn trajectory segment.

Constructor Summary

Constructors

Constructor and Description
PointTurn(Pose2d start, double angle, DriveConstraints constraints) Point turn trajectory segment.

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.
double	getAngle() angle to sweep through
DriveConstraints	getConstraints() drive constraints
MotionProfile	getProfile() Motion profile for the time parametrization of the turn.
Pose2d	getStart() start pose
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

Constructor Detail

PointTurn

public PointTurn(@NotNull
                 Pose2d start,
                 double angle,
                 @NotNull
                 DriveConstraints constraints)

Point turn trajectory segment.

Parameters:

start - start pose

angle - angle to sweep through (may exceed a full revolution)

constraints - drive constraints

Method Detail

getProfile

@NotNull
public MotionProfile getProfile()

Motion profile for the time parametrization of the turn.

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

getStart

@NotNull
public Pose2d getStart()

start pose

getAngle

public double getAngle()

angle to sweep through

(may exceed a full revolution)

getConstraints

@NotNull
public DriveConstraints getConstraints()

drive constraints