SimpleTrajectoryBuilder

class SimpleTrajectoryBuilder : BaseTrajectoryBuilder

Builder for trajectories with static constraints.

SimpleTrajectoryBuilder(startPose: Pose2d, driveConstraints: DriveConstraints, start: MotionState = MotionState(0.0, 0.0, 0.0))

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

SimpleTrajectoryBuilder(trajectory: Trajectory, t: Double, driveConstraints: DriveConstraints)

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

fun buildTrajectory(path: Path, temporalMarkers: List<TemporalMarker>, spatialMarkers: List<SpatialMarker>): Trajectory

Build a trajectory from path.

addMarker	`fun addMarker(time: Double, callback: () -> Unit): BaseTrajectoryBuilder` Adds a marker to the trajectory at time. `fun addMarker(point: Vector2d, callback: () -> Unit): BaseTrajectoryBuilder` Adds a marker that will be triggered at the closest trajectory point to point. `fun addMarker(callback: () -> Unit): BaseTrajectoryBuilder` Adds a marker at the current position of the trajectory.
back	`fun back(distance: Double): BaseTrajectoryBuilder` Adds a line straight backward.
build	`fun build(): Trajectory` Constructs the Trajectory instance.
forward	`fun forward(distance: Double): BaseTrajectoryBuilder` Adds a line straight forward.
lineTo	`fun lineTo(pos: Vector2d, interpolator: HeadingInterpolator = TangentInterpolator()): BaseTrajectoryBuilder` Adds a line path segment.
reverse	`fun reverse(): BaseTrajectoryBuilder` Reverse the direction of robot travel.
setReversed	`fun setReversed(reversed: Boolean): BaseTrajectoryBuilder` Sets the robot travel direction.
splineTo	`fun splineTo(pose: Pose2d, interpolator: HeadingInterpolator = TangentInterpolator()): BaseTrajectoryBuilder` Adds a spline segment.
strafeLeft	`fun strafeLeft(distance: Double): BaseTrajectoryBuilder` Adds a segment that strafes left in the robot reference frame.
strafeRight	`fun strafeRight(distance: Double): BaseTrajectoryBuilder` Adds a segment that strafes right in the robot reference frame.
strafeTo	`fun strafeTo(pos: Vector2d): BaseTrajectoryBuilder` Adds a strafe path segment.