core / com.acmerobotics.roadrunner.trajectory.config / TrajectoryConfig

TrajectoryConfig

data class TrajectoryConfig (source)

Configuration describing a basic trajectory (a simpler frontend alternative to BaseTrajectoryBuilder).

Types

HeadingInterpolationType

Heading interpolation for a specific trajectory configuration step.

enum class HeadingInterpolationType

Step

Description of a single segment of a composite trajectory.

data class Step

Constructors

<init>

Configuration describing a basic trajectory (a simpler frontend alternative to BaseTrajectoryBuilder).

TrajectoryConfig(startPose: Pose2d, startHeading: Double?, steps: List<Step>, resolution: Double)

Properties

resolution

val resolution: Double

startHeading

val startHeading: Double?

startPose

val startPose: Pose2d

steps

val steps: List<Step>

version

val version: Int

Functions

toTrajectory

fun toTrajectory(groupConfig: TrajectoryGroupConfig): Trajectory?

toTrajectoryBuilder

fun toTrajectoryBuilder(groupConfig: TrajectoryGroupConfig): TrajectoryBuilder?