com.acmerobotics.roadrunner.trajectory

Class BaseTrajectoryBuilder

com.acmerobotics.roadrunner.trajectory.BaseTrajectoryBuilder

Direct Known Subclasses:

SimpleTrajectoryBuilder, TrajectoryBuilder

public class BaseTrajectoryBuilder

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

See Also:

class Trajectory

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	BaseTrajectoryBuilder(Pose2d startPose, Trajectory trajectory, java.lang.Double t) Easy-to-use builder for creating class Trajectory instances.

Method Summary

Modifier and Type	Method and Description
BaseTrajectoryBuilder	addMarker(double time, kotlin.jvm.functions.Function0<kotlin.Unit> callback) Adds a marker to the trajectory at time.
BaseTrajectoryBuilder	addMarker(Vector2d point, kotlin.jvm.functions.Function0<kotlin.Unit> callback) Adds a marker that will be triggered at the closest trajectory point to point.
BaseTrajectoryBuilder	addMarker(kotlin.jvm.functions.Function0<kotlin.Unit> callback) Adds a marker at the current position of the trajectory.
BaseTrajectoryBuilder	back(double distance) Adds a line straight backward.
Trajectory	build() Constructs the class Trajectory instance.
protected Trajectory	buildTrajectory(Path path, java.util.List<com.acmerobotics.roadrunner.trajectory.TemporalMarker> temporalMarkers, java.util.List<com.acmerobotics.roadrunner.trajectory.SpatialMarker> spatialMarkers) Build a trajectory from path.
BaseTrajectoryBuilder	forward(double distance) Adds a line straight forward.
BaseTrajectoryBuilder	lineTo(Vector2d pos, HeadingInterpolator interpolator) Adds a line path segment.
BaseTrajectoryBuilder	lineTo(Vector2d pos) Adds a line path segment.
BaseTrajectoryBuilder	reverse() Reverse the direction of robot travel.
BaseTrajectoryBuilder	setReversed(boolean reversed) Sets the robot travel direction.
BaseTrajectoryBuilder	splineTo(Pose2d pose, HeadingInterpolator interpolator) Adds a spline segment.
BaseTrajectoryBuilder	splineTo(Pose2d pose) Adds a spline segment.
BaseTrajectoryBuilder	strafeLeft(double distance) Adds a segment that strafes left in the robot reference frame.
BaseTrajectoryBuilder	strafeRight(double distance) Adds a segment that strafes right in the robot reference frame.
BaseTrajectoryBuilder	strafeTo(Vector2d pos) Adds a strafe path segment.

Constructor Detail

BaseTrajectoryBuilder

protected BaseTrajectoryBuilder(@Nullable
                                Pose2d startPose,
                                @Nullable
                                Trajectory trajectory,
                                @Nullable
                                java.lang.Double t)

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

Parameters:

startPose - start pose

trajectory - initial trajectory (for splicing)

t - time index in previous trajectory to begin new trajectory

See Also:

class Trajectory

Method Detail

reverse

@NotNull
public BaseTrajectoryBuilder reverse()

Reverse the direction of robot travel.

setReversed

@NotNull
public BaseTrajectoryBuilder setReversed(boolean reversed)

Sets the robot travel direction.

lineTo

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

Adds a line path segment.

Parameters:

pos - end position

interpolator - heading interpolator

lineTo

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

Adds a line path segment.

Parameters:

pos - end position

strafeTo

@NotNull
public BaseTrajectoryBuilder strafeTo(@NotNull
                                               Vector2d pos)

Adds a strafe path segment.

Parameters:

pos - end position

forward

@NotNull
public BaseTrajectoryBuilder forward(double distance)

Adds a line straight forward.

Parameters:

distance - distance to travel forward

back

@NotNull
public BaseTrajectoryBuilder back(double distance)

Adds a line straight backward.

Parameters:

distance - distance to travel backward

strafeLeft

@NotNull
public BaseTrajectoryBuilder strafeLeft(double distance)

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

Parameters:

distance - distance to strafe left

strafeRight

@NotNull
public BaseTrajectoryBuilder strafeRight(double distance)

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

Parameters:

distance - distance to strafe right

splineTo

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

Adds a spline segment.

Parameters:

pose - end pose

interpolator - heading interpolator

splineTo

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

Adds a spline segment.

Parameters:

pose - end pose

addMarker

@NotNull
public BaseTrajectoryBuilder addMarker(double time,
                                                @NotNull
                                                kotlin.jvm.functions.Function0<kotlin.Unit> callback)

Adds a marker to the trajectory at time.

See Also:

time

addMarker

@NotNull
public BaseTrajectoryBuilder addMarker(@NotNull
                                                Vector2d point,
                                                @NotNull
                                                kotlin.jvm.functions.Function0<kotlin.Unit> callback)

Adds a marker that will be triggered at the closest trajectory point to point.

See Also:

point

addMarker

@NotNull
public BaseTrajectoryBuilder addMarker(@NotNull
                                                kotlin.jvm.functions.Function0<kotlin.Unit> callback)

Adds a marker at the current position of the trajectory.

build

@NotNull
public Trajectory build()

Constructs the class Trajectory instance.

See Also:

class Trajectory

buildTrajectory

@NotNull
protected Trajectory buildTrajectory(@NotNull
                                              Path path,
                                              @NotNull
                                              java.util.List<com.acmerobotics.roadrunner.trajectory.TemporalMarker> temporalMarkers,
                                              @NotNull
                                              java.util.List<com.acmerobotics.roadrunner.trajectory.SpatialMarker> spatialMarkers)

Build a trajectory from path.

See Also:

path