LegacyTrajectoryConfig

class LegacyTrajectoryConfig (source)

Legacy trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than TrajectoryBuilder.

poses - poses

constraints - constraints

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

Legacy trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than TrajectoryBuilder.

LegacyTrajectoryConfig(poses: List<Pose2d>, constraints: DriveConstraints, resolution: Double = 0.25)

constraints	constraints `val constraints: DriveConstraints`
poses	poses `val poses: List<Pose2d>`
resolution	resolution used for path-based segments (see Trajectory) `val resolution: Double`

Converts the configuration into a TrajectoryBuilder.

fun toTrajectoryConfig(): TrajectoryConfig?