core / com.acmerobotics.roadrunner.trajectory / BaseTrajectoryBuilder

BaseTrajectoryBuilder

abstract class BaseTrajectoryBuilder

Easy-to-use builder for creating Trajectory instances.

Parameters

startPose - start pose

trajectory - initial trajectory (for splicing)

t - time index in previous trajectory to begin new trajectory

Constructors

<init>

BaseTrajectoryBuilder(startPose: Pose2d?, trajectory: Trajectory?, t: Double?)

Easy-to-use builder for creating Trajectory instances.

Functions

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.
buildTrajectory	`abstract fun buildTrajectory(path: Path, temporalMarkers: List<TemporalMarker>, spatialMarkers: List<SpatialMarker>): Trajectory` Build a trajectory from path.
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.

Inheritors

SimpleTrajectoryBuilder	`class SimpleTrajectoryBuilder : BaseTrajectoryBuilder` Builder for trajectories with static constraints.
TrajectoryBuilder	`class TrajectoryBuilder : BaseTrajectoryBuilder` Builder for trajectories with dynamic constraints.