core / com.acmerobotics.roadrunner.trajectory / TrajectoryBuilder

TrajectoryBuilder

class TrajectoryBuilder

Easy-to-use builder for creating Trajectory instances.

Parameters

startPose - start pose

globalConstraints - global drive constraints (overridable for specific segments)

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

Constructors

<init>

TrajectoryBuilder(startPose: Pose2d, globalConstraints: DriveConstraints, resolution: Double = 0.25)

Easy-to-use builder for creating Trajectory instances.

Functions

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