com.acmerobotics.roadrunner.trajectory

Class TrajectoryConfig

com.acmerobotics.roadrunner.trajectory.TrajectoryConfig

public class TrajectoryConfig

Basic trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than class BaseTrajectoryBuilder.

See Also:

class BaseTrajectoryBuilder

Constructor Summary

Constructors

Constructor and Description
TrajectoryConfig(java.util.List<com.acmerobotics.roadrunner.geometry.Pose2d> poses, DriveConstraints constraints, double resolution) Basic trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than class BaseTrajectoryBuilder.
TrajectoryConfig(java.util.List<com.acmerobotics.roadrunner.geometry.Pose2d> poses, DriveConstraints constraints) Basic trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than class BaseTrajectoryBuilder.

Method Summary

Modifier and Type	Method and Description
DriveConstraints	getConstraints() constraints
java.util.List<com.acmerobotics.roadrunner.geometry.Pose2d>	getPoses() poses
double	getResolution() resolution used for path-based segments
Trajectory	toTrajectory() Converts the configuration into a real class Trajectory.

Constructor Detail

TrajectoryConfig

@JvmOverloads
public TrajectoryConfig(@NotNull
                                      java.util.List<com.acmerobotics.roadrunner.geometry.Pose2d> poses,
                                      @NotNull
                                      DriveConstraints constraints,
                                      double resolution)

Basic trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than class BaseTrajectoryBuilder.

Parameters:

poses - poses

constraints - constraints

resolution - resolution used for path-based segments (see class Trajectory)

See Also:

class BaseTrajectoryBuilder

TrajectoryConfig

@JvmOverloads
public TrajectoryConfig(@NotNull
                                      java.util.List<com.acmerobotics.roadrunner.geometry.Pose2d> poses,
                                      @NotNull
                                      DriveConstraints constraints)

Basic trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than class BaseTrajectoryBuilder.

Parameters:

poses - poses

constraints - constraints

See Also:

class BaseTrajectoryBuilder

Method Detail

toTrajectory

@Nullable
public Trajectory toTrajectory()

Converts the configuration into a real class Trajectory.

See Also:

class Trajectory

getPoses

@NotNull
public java.util.List<com.acmerobotics.roadrunner.geometry.Pose2d> getPoses()

poses

getConstraints

@NotNull
public DriveConstraints getConstraints()

constraints

getResolution

public double getResolution()

resolution used for path-based segments

(see class Trajectory)

See Also:

class Trajectory