com.acmerobotics.roadrunner.trajectory

Class Trajectory

com.acmerobotics.roadrunner.trajectory.Trajectory

public class Trajectory

Time-parametrized trajectory of poses.

Constructor Summary

Constructors

Constructor and Description
Trajectory(java.util.List<? extends com.acmerobotics.roadrunner.trajectory.TrajectorySegment> segments) Time-parametrized trajectory of poses.
Trajectory() Time-parametrized trajectory of poses.

Method Summary

Modifier and Type	Method and Description
Pose2d	acceleration(double time) Returns the pose acceleration at the specified time.
double	duration() Returns the trajectory duration.
Pose2d	end() Returns the end pose.
Pose2d	endAcceleration() Returns the end pose acceleration.
Pose2d	endVelocity() Returns the end pose velocity.
Pose2d	get(double time) Returns the pose at the specified time.
java.util.List<com.acmerobotics.roadrunner.trajectory.TrajectorySegment>	getSegments() trajectory segments
Pose2d	start() Returns the start pose.
Pose2d	startAcceleration() Returns the start pose acceleration.
Pose2d	startVelocity() Returns the start pose velocity.
Pose2d	velocity(double time) Returns the pose velocity at the specified time.

Constructor Detail

Trajectory

public Trajectory(@NotNull
                  java.util.List<? extends com.acmerobotics.roadrunner.trajectory.TrajectorySegment> segments)

Time-parametrized trajectory of poses.

Parameters:

segments - trajectory segments

Trajectory

public Trajectory()

Time-parametrized trajectory of poses.

Method Detail

duration

public double duration()

Returns the trajectory duration.

get

@NotNull
public Pose2d get(double time)

Returns the pose at the specified time.

See Also:

time

velocity

@NotNull
public Pose2d velocity(double time)

Returns the pose velocity at the specified time.

See Also:

time

acceleration

@NotNull
public Pose2d acceleration(double time)

Returns the pose acceleration at the specified time.

See Also:

time

start

@NotNull
public Pose2d start()

Returns the start pose.

startVelocity

@NotNull
public Pose2d startVelocity()

Returns the start pose velocity.

startAcceleration

@NotNull
public Pose2d startAcceleration()

Returns the start pose acceleration.

end

@NotNull
public Pose2d end()

Returns the end pose.

endVelocity

@NotNull
public Pose2d endVelocity()

Returns the end pose velocity.

endAcceleration

@NotNull
public Pose2d endAcceleration()

Returns the end pose acceleration.

getSegments

@NotNull
public java.util.List<com.acmerobotics.roadrunner.trajectory.TrajectorySegment> getSegments()

trajectory segments