Types for representing 2D robot trajectories, including time parametrizations of paths.
abstract class BaseTrajectoryBuilder
Easy-to-use builder for creating Trajectory instances. |
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class SimpleTrajectoryBuilder : BaseTrajectoryBuilder
Builder for trajectories with static constraints. |
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data class SpatialMarker
Trajectory marker that is triggered when the trajectory passes the specified point. |
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data class TemporalMarker
Trajectory marker that is triggered when the specified time passes. |
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class Trajectory
Trajectory backed by a Path and a MotionProfile. |
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class TrajectoryBuilder : BaseTrajectoryBuilder
Builder for trajectories with dynamic constraints. |
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class TrajectoryConfig
Basic trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than BaseTrajectoryBuilder. |
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object TrajectoryGenerator
Trajectory generator for creating trajectories with dynamic and static constraints from paths. |
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object TrajectoryLoader
Class containing methods for saving and loading TrajectoryConfig instances to YAML files. |