core / com.acmerobotics.roadrunner.trajectory / PathTrajectorySegment

PathTrajectorySegment

class PathTrajectorySegment : TrajectorySegment

Trajectory segment backed by a list of Path objects.

Parameters

paths - paths

profile - motion profile

Constructors

PathTrajectorySegment(paths: List<Path> = emptyList(), trajectoryConstraintsList: List<TrajectoryConstraints> = emptyList(), start: MotionState = MotionState(0.0, 0.0, 0.0), goal: MotionState = MotionState(paths.sumByDouble { it.length() }, 0.0, 0.0), resolution: Double = 0.25)

PathTrajectorySegment(path: Path, trajectoryConstraints: TrajectoryConstraints, start: MotionState = MotionState(0.0, 0.0, 0.0), goal: MotionState = MotionState(path.length(), 0.0, 0.0), resolution: Double = 0.25)

PathTrajectorySegment(paths: List<Path> = emptyList(), constraints: DriveConstraints, start: MotionState = MotionState(0.0, 0.0, 0.0, 0.0), goal: MotionState = MotionState(paths.sumByDouble { it.length() }, 0.0, 0.0, 0.0))

PathTrajectorySegment(path: Path, constraints: DriveConstraints, start: MotionState = MotionState(0.0, 0.0, 0.0, 0.0), goal: MotionState = MotionState(path.length(), 0.0, 0.0, 0.0))

PathTrajectorySegment(paths: List<Path>, profile: MotionProfile)

Trajectory segment backed by a list of Path objects.

Properties

paths	`val paths: List<Path>` paths
profile	`val profile: MotionProfile` motion profile

Functions

acceleration	`fun acceleration(time: Double): Pose2d` Returns the pose acceleration at the given time.
duration	`fun duration(): Double` Returns the duration of the segment.
get	`operator fun get(time: Double): Pose2d` Returns the pose at the given time.
velocity	`fun velocity(time: Double): Pose2d` Returns the pose velocity at the given time.