com.acmerobotics.roadrunner.trajectory

Class TrajectoryBuilder

com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder

public class TrajectoryBuilder

Easy-to-use builder for creating class Trajectory instances.

See Also:

class Trajectory

Constructor Summary

Constructors

Constructor and Description
TrajectoryBuilder(Pose2d startPose, DriveConstraints globalConstraints, double resolution) Easy-to-use builder for creating class Trajectory instances.
TrajectoryBuilder(Pose2d startPose, DriveConstraints globalConstraints) Easy-to-use builder for creating class Trajectory instances.

Method Summary

Modifier and Type	Method and Description
TrajectoryBuilder	back(double distance) Adds a line straight backward.
TrajectoryBuilder	beginComposite() Begins a composite path trajectory segment backed by a single continuous profile.
Trajectory	build() Constructs the class Trajectory instance.
TrajectoryBuilder	closeComposite() Closes a composite path trajectory segment (see beginComposite).
TrajectoryBuilder	face(Vector2d pos) Turns to face a position.
TrajectoryBuilder	forward(double distance) Adds a line straight forward.
TrajectoryBuilder	lineTo(Vector2d pos, HeadingInterpolator interpolator, TrajectoryConstraints constraintsOverride) Adds a line path segment.
TrajectoryBuilder	lineTo(Vector2d pos, HeadingInterpolator interpolator) Adds a line path segment.
TrajectoryBuilder	lineTo(Vector2d pos) Adds a line path segment.
TrajectoryBuilder	reverse() Reverse the direction of robot travel.
TrajectoryBuilder	setReversed(boolean reversed) Sets the robot travel direction.
TrajectoryBuilder	splineTo(Pose2d pose, HeadingInterpolator interpolator, TrajectoryConstraints constraintsOverride) Adds a spline segment.
TrajectoryBuilder	splineTo(Pose2d pose, HeadingInterpolator interpolator) Adds a spline segment.
TrajectoryBuilder	splineTo(Pose2d pose) Adds a spline segment.
TrajectoryBuilder	strafeLeft(double distance) Adds a segment that strafes left in the robot reference frame.
TrajectoryBuilder	strafeRight(double distance) Adds a segment that strafes right in the robot reference frame.
TrajectoryBuilder	strafeTo(Vector2d pos) Adds a strafe path segment.
TrajectoryBuilder	turn(double angle, DriveConstraints constraintsOverride) Adds a point turn.
TrajectoryBuilder	turn(double angle) Adds a point turn.
TrajectoryBuilder	turnTo(double heading, DriveConstraints constraintsOverride) Adds a point turn.
TrajectoryBuilder	turnTo(double heading) Adds a point turn.
TrajectoryBuilder	waitFor(double duration) Adds a wait segment.

Constructor Detail

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Pose2d startPose,
                                       @NotNull
                                       DriveConstraints globalConstraints,
                                       double resolution)

Easy-to-use builder for creating class Trajectory instances.

Parameters:

startPose - start pose

globalConstraints - global drive constraints (overridable for specific segments)

resolution - resolution used for path-based segments (see class PathTrajectorySegment)

See Also:

class Trajectory

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Pose2d startPose,
                                       @NotNull
                                       DriveConstraints globalConstraints)

Easy-to-use builder for creating class Trajectory instances.

Parameters:

startPose - start pose

globalConstraints - global drive constraints (overridable for specific segments)

See Also:

class Trajectory

Method Detail

reverse

@NotNull
public TrajectoryBuilder reverse()

Reverse the direction of robot travel.

setReversed

@NotNull
public TrajectoryBuilder setReversed(boolean reversed)

Sets the robot travel direction.

turn

@JvmOverloads
 @NotNull
public TrajectoryBuilder turn(double angle,
                                                      @Nullable
                                                      DriveConstraints constraintsOverride)

Adds a point turn.

Parameters:

angle - angle to turn by (relative to the current heading)

constraintsOverride - turn-specific drive constraints

turn

@JvmOverloads
 @NotNull
public TrajectoryBuilder turn(double angle)

Adds a point turn.

Parameters:

angle - angle to turn by (relative to the current heading)

turnTo

@JvmOverloads
 @NotNull
public TrajectoryBuilder turnTo(double heading,
                                                        @Nullable
                                                        DriveConstraints constraintsOverride)

Adds a point turn.

Parameters:

heading - heading to turn to

constraintsOverride - turn-specific drive constraints

turnTo

@JvmOverloads
 @NotNull
public TrajectoryBuilder turnTo(double heading)

Adds a point turn.

Parameters:

heading - heading to turn to

face

@NotNull
public TrajectoryBuilder face(@NotNull
                                       Vector2d pos)

Turns to face a position.

Parameters:

pos - position to face

lineTo

@JvmOverloads
 @NotNull
public TrajectoryBuilder lineTo(@NotNull
                                                        Vector2d pos,
                                                        @NotNull
                                                        HeadingInterpolator interpolator,
                                                        @Nullable
                                                        TrajectoryConstraints constraintsOverride)

Adds a line path segment.

Parameters:

pos - end position

interpolator - heading interpolator

constraintsOverride - line-specific drive constraints

lineTo

@JvmOverloads
 @NotNull
public TrajectoryBuilder lineTo(@NotNull
                                                        Vector2d pos,
                                                        @NotNull
                                                        HeadingInterpolator interpolator)

Adds a line path segment.

Parameters:

pos - end position

interpolator - heading interpolator

lineTo

@JvmOverloads
 @NotNull
public TrajectoryBuilder lineTo(@NotNull
                                                        Vector2d pos)

Adds a line path segment.

Parameters:

pos - end position

strafeTo

@NotNull
public TrajectoryBuilder strafeTo(@NotNull
                                           Vector2d pos)

Adds a strafe path segment.

Parameters:

pos - end position

forward

@NotNull
public TrajectoryBuilder forward(double distance)

Adds a line straight forward.

Parameters:

distance - distance to travel forward

back

@NotNull
public TrajectoryBuilder back(double distance)

Adds a line straight backward.

Parameters:

distance - distance to travel backward

strafeLeft

@NotNull
public TrajectoryBuilder strafeLeft(double distance)

Adds a segment that strafes left in the robot reference frame.

Parameters:

distance - distance to strafe left

strafeRight

@NotNull
public TrajectoryBuilder strafeRight(double distance)

Adds a segment that strafes right in the robot reference frame.

Parameters:

distance - distance to strafe right

splineTo

@JvmOverloads
 @NotNull
public TrajectoryBuilder splineTo(@NotNull
                                                          Pose2d pose,
                                                          @NotNull
                                                          HeadingInterpolator interpolator,
                                                          @Nullable
                                                          TrajectoryConstraints constraintsOverride)

Adds a spline segment.

Parameters:

pose - end pose

interpolator - heading interpolator

constraintsOverride - spline-specific constraints

splineTo

@JvmOverloads
 @NotNull
public TrajectoryBuilder splineTo(@NotNull
                                                          Pose2d pose,
                                                          @NotNull
                                                          HeadingInterpolator interpolator)

Adds a spline segment.

Parameters:

pose - end pose

interpolator - heading interpolator

splineTo

@JvmOverloads
 @NotNull
public TrajectoryBuilder splineTo(@NotNull
                                                          Pose2d pose)

Adds a spline segment.

Parameters:

pose - end pose

waitFor

@NotNull
public TrajectoryBuilder waitFor(double duration)

Adds a wait segment.

Parameters:

duration - wait duration

beginComposite

@NotNull
public TrajectoryBuilder beginComposite()

Begins a composite path trajectory segment backed by a single continuous profile.

closeComposite

@NotNull
public TrajectoryBuilder closeComposite()

Closes a composite path trajectory segment (see beginComposite).

See Also:

beginComposite

build

@NotNull
public Trajectory build()

Constructs the class Trajectory instance.

See Also:

class Trajectory