com.acmerobotics.roadrunner.trajectory

Interface TrajectorySegment

All Known Implementing Classes:

PathTrajectorySegment, PointTurn, WaitSegment

public TrajectorySegment

Generic 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.
Pose2d	velocity(double time) Returns the pose velocity at the given time.

Method Detail

duration

double duration()

Returns the duration of the segment.

get

@NotNull
Pose2d get(double time)

Returns the pose at the given time.

See Also:

time

velocity

@NotNull
Pose2d velocity(double time)

Returns the pose velocity at the given time.

See Also:

time

acceleration

@NotNull
Pose2d acceleration(double time)

Returns the pose acceleration at the given time.

See Also:

time