com.acmerobotics.roadrunner.path

Class PathBuilder

com.acmerobotics.roadrunner.path.PathBuilder

public class PathBuilder

Easy-to-use builder for creating class Path instances.

See Also:

class Path

Constructor Detail

PathBuilder

@JvmOverloads
public PathBuilder(@NotNull
                                 Pose2d startPose,
                                 double startTangent)

PathBuilder

@JvmOverloads
public PathBuilder(@NotNull
                                 Pose2d startPose)

PathBuilder

public PathBuilder(@NotNull
                   Pose2d startPose,
                   boolean reversed)

PathBuilder

public PathBuilder(@NotNull
                   Path path,
                   double s)

Method Detail

lineTo

@NotNull
public PathBuilder lineTo(@NotNull
                                   Vector2d endPosition)

Adds a line segment with tangent heading interpolation.

Parameters:

endPosition - end position

lineToConstantHeading

@NotNull
public PathBuilder lineToConstantHeading(@NotNull
                                                  Vector2d endPosition)

Adds a line segment with constant heading interpolation.

Parameters:

endPosition - end position

strafeTo

@NotNull
public PathBuilder strafeTo(@NotNull
                                     Vector2d endPosition)

Adds a strafe segment (i.e., a line segment with constant heading interpolation).

Parameters:

endPosition - end position

lineToLinearHeading

@NotNull
public PathBuilder lineToLinearHeading(@NotNull
                                                Pose2d endPose)

Adds a line segment with linear heading interpolation.

Parameters:

endPose - end pose

lineToSplineHeading

@NotNull
public PathBuilder lineToSplineHeading(@NotNull
                                                Pose2d endPose)

Adds a line segment with spline heading interpolation.

Parameters:

endPose - end pose

forward

@NotNull
public PathBuilder forward(double distance)

Adds a line straight forward.

Parameters:

distance - distance to travel forward

back

@NotNull
public PathBuilder back(double distance)

Adds a line straight backward.

Parameters:

distance - distance to travel backward

strafeLeft

@NotNull
public PathBuilder strafeLeft(double distance)

Adds a segment that strafes left in the robot reference frame.

Parameters:

distance - distance to strafe left

strafeRight

@NotNull
public PathBuilder strafeRight(double distance)

Adds a segment that strafes right in the robot reference frame.

Parameters:

distance - distance to strafe right

splineTo

@NotNull
public PathBuilder splineTo(@NotNull
                                     Vector2d endPosition,
                                     double endTangent)

Adds a spline segment with tangent heading interpolation.

Parameters:

endPosition - end position

endTangent - end tangent

splineToConstantHeading

@NotNull
public PathBuilder splineToConstantHeading(@NotNull
                                                    Vector2d endPosition,
                                                    double endTangent)

Adds a spline segment with constant heading interpolation.

Parameters:

endPosition - end position

endTangent - end tangent

splineToLinearHeading

@NotNull
public PathBuilder splineToLinearHeading(@NotNull
                                                  Pose2d endPose,
                                                  double endTangent)

Adds a spline segment with linear heading interpolation.

Parameters:

endPose - end pose

endTangent - end tangent

splineToSplineHeading

@NotNull
public PathBuilder splineToSplineHeading(@NotNull
                                                  Pose2d endPose,
                                                  double endTangent)

Adds a spline segment with spline heading interpolation.

Parameters:

endPose - end pose

endTangent - end tangent

build

@NotNull
public Path build()

Constructs the class Path instance.

See Also:

class Path