com.acmerobotics.roadrunner.trajectory

Class TrajectoryBuilder

BaseTrajectoryBuilder

com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder

public class TrajectoryBuilder
extends BaseTrajectoryBuilder

Builder for trajectories with dynamic constraints.

Constructor Summary

Constructors

Constructor and Description
TrajectoryBuilder(Pose2d startPose, TrajectoryConstraints trajectoryConstraints, MotionState start, double resolution) Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.
TrajectoryBuilder(Pose2d startPose, TrajectoryConstraints trajectoryConstraints, MotionState start) Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.
TrajectoryBuilder(Pose2d startPose, TrajectoryConstraints trajectoryConstraints) Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.
TrajectoryBuilder(Trajectory trajectory, double t, TrajectoryConstraints trajectoryConstraints, double resolution) Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one.
TrajectoryBuilder(Trajectory trajectory, double t, TrajectoryConstraints trajectoryConstraints) Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one.

Method Summary

Modifier and Type	Method and Description
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.

Methods inherited from class com.acmerobotics.roadrunner.trajectory.BaseTrajectoryBuilder

addMarker, addMarker, addMarker, back, build, buildTrajectory, forward, lineTo, lineTo, reverse, setReversed, splineTo, splineTo, strafeLeft, strafeRight, strafeTo

Constructor Detail

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Pose2d startPose,
                                       @NotNull
                                       TrajectoryConstraints trajectoryConstraints,
                                       @NotNull
                                       MotionState start,
                                       double resolution)

Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Pose2d startPose,
                                       @NotNull
                                       TrajectoryConstraints trajectoryConstraints,
                                       @NotNull
                                       MotionState start)

Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Pose2d startPose,
                                       @NotNull
                                       TrajectoryConstraints trajectoryConstraints)

Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Trajectory trajectory,
                                       double t,
                                       @NotNull
                                       TrajectoryConstraints trajectoryConstraints,
                                       double resolution)

Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one.

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Trajectory trajectory,
                                       double t,
                                       @NotNull
                                       TrajectoryConstraints trajectoryConstraints)

Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one.

Method Detail

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