core / com.acmerobotics.roadrunner.path / PathBuilder

PathBuilder

class PathBuilder

Easy-to-use builder for creating Path instances.

Parameters

startPose - start pose

Constructors

PathBuilder(startPose: Pose2d)
PathBuilder(path: Path, s: Double)

Functions

back	`fun back(distance: Double): PathBuilder` Adds a line straight backward.
build	`fun build(): Path` Constructs the Path instance.
forward	`fun forward(distance: Double): PathBuilder` Adds a line straight forward.
lineTo	`fun lineTo(end: Vector2d, interpolator: HeadingInterpolator = TangentInterpolator()): PathBuilder` Adds a line path segment.
reverse	`fun reverse(): PathBuilder` Reverse the direction of robot travel.
setReversed	`fun setReversed(reversed: Boolean): PathBuilder` Sets the robot travel direction.
splineTo	`fun splineTo(end: Pose2d, interpolator: HeadingInterpolator = TangentInterpolator()): PathBuilder` Adds a spline segment.
strafeLeft	`fun strafeLeft(distance: Double): PathBuilder` Adds a segment that strafes left in the robot reference frame.
strafeRight	`fun strafeRight(distance: Double): PathBuilder` Adds a segment that strafes right in the robot reference frame.
strafeTo	`fun strafeTo(end: Vector2d): PathBuilder` Adds a strafe path segment.