com.acmerobotics.roadrunner.trajectory

Class WaitSegment

com.acmerobotics.roadrunner.trajectory.WaitSegment

All Implemented Interfaces:

TrajectorySegment

public class WaitSegment
implements TrajectorySegment

Static trajectory segment that holds a constant pose. Used for giving trajectories extra time to settle.

Constructor Summary

Constructors

Constructor and Description
WaitSegment(Pose2d pose, double duration) Static trajectory segment that holds a constant pose. Used for giving trajectories extra time to settle.

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.

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

acceleration, duration, get, velocity

Constructor Detail

WaitSegment

public WaitSegment(@NotNull
                   Pose2d pose,
                   double duration)

Static trajectory segment that holds a constant pose. Used for giving trajectories extra time to settle.

Parameters:

pose - pose to hold

duration - duration

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