com.acmerobotics.roadrunner.trajectory

Class BaseTrajectoryBuilder<T extends BaseTrajectoryBuilder<T>>

com.acmerobotics.roadrunner.trajectory.BaseTrajectoryBuilder<T>

Direct Known Subclasses:

SimpleTrajectoryBuilder, TrajectoryBuilder

public class BaseTrajectoryBuilder<T extends BaseTrajectoryBuilder<T>>

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

See Also:

class Trajectory

Constructor Detail

BaseTrajectoryBuilder

protected BaseTrajectoryBuilder(@Nullable
                                Pose2d startPose,
                                @Nullable
                                java.lang.Double startTangent,
                                @Nullable
                                Trajectory trajectory,
                                @Nullable
                                java.lang.Double t)

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

Parameters:

startPose - start pose

trajectory - initial trajectory (for splicing)

t - time index in previous trajectory to begin new trajectory

See Also:

class Trajectory

Method Detail

getPathBuilder

@NotNull
protected PathBuilder getPathBuilder()

setPathBuilder

protected void setPathBuilder(@NotNull
                              PathBuilder p)

lineTo

@NotNull
public T lineTo(@NotNull
                         Vector2d endPosition)

Adds a line segment with tangent heading interpolation.

Parameters:

endPosition - end position

lineToConstantHeading

@NotNull
public T lineToConstantHeading(@NotNull
                                        Vector2d endPosition)

Adds a line segment with constant heading interpolation.

Parameters:

endPosition - end position

lineToLinearHeading

@NotNull
public T lineToLinearHeading(@NotNull
                                      Pose2d endPose)

Adds a line segment with linear heading interpolation.

Parameters:

endPose - end pose

lineToSplineHeading

@NotNull
public T lineToSplineHeading(@NotNull
                                      Pose2d endPose)

Adds a line segment with spline heading interpolation.

Parameters:

endPose - end pose

strafeTo

@NotNull
public T strafeTo(@NotNull
                           Vector2d endPosition)

Adds a strafe path segment.

Parameters:

endPosition - end position

forward

@NotNull
public T forward(double distance)

Adds a line straight forward.

Parameters:

distance - distance to travel forward

back

@NotNull
public T back(double distance)

Adds a line straight backward.

Parameters:

distance - distance to travel backward

strafeLeft

@NotNull
public T strafeLeft(double distance)

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

Parameters:

distance - distance to strafe left

strafeRight

@NotNull
public T strafeRight(double distance)

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

Parameters:

distance - distance to strafe right

splineTo

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

Adds a spline segment with tangent heading interpolation.

Parameters:

endPosition - end position

endTangent - end tangent

splineToConstantHeading

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

Adds a spline segment with constant heading interpolation.

Parameters:

endPosition - end position

endTangent - end tangent

splineToLinearHeading

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

Adds a spline segment with linear heading interpolation.

Parameters:

endPose - end pose

endTangent - end tangent

splineToSplineHeading

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

Adds a spline segment with spline heading interpolation.

Parameters:

endPose - end pose

endTangent - end tangent

addTemporalMarker

@NotNull
public T addTemporalMarker(double time,
                                    @NotNull
                                    MarkerCallback callback)

Adds a marker to the trajectory at time.

See Also:

time

addTemporalMarker

@NotNull
public T addTemporalMarker(double scale,
                                    double offset,
                                    @NotNull
                                    MarkerCallback callback)

Adds a marker to the trajectory at scale * trajectory duration + offset.

See Also:

scale, offset

addTemporalMarker

@NotNull
public T addTemporalMarker(@NotNull
                                    kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> time,
                                    @NotNull
                                    MarkerCallback callback)

Adds a marker to the trajectory at time evaluated with the trajectory duration.

See Also:

time

addSpatialMarker

@NotNull
public T addSpatialMarker(@NotNull
                                   Vector2d point,
                                   @NotNull
                                   MarkerCallback callback)

Adds a marker that will be triggered at the closest trajectory point to point.

See Also:

point

addDisplacementMarker

@NotNull
public T addDisplacementMarker(@NotNull
                                        MarkerCallback callback)

Adds a marker at the current position of the trajectory.

addDisplacementMarker

@NotNull
public T addDisplacementMarker(double displacement,
                                        @NotNull
                                        MarkerCallback callback)

Adds a marker to the trajectory at displacement.

See Also:

displacement

addDisplacementMarker

@NotNull
public T addDisplacementMarker(double scale,
                                        double offset,
                                        @NotNull
                                        MarkerCallback callback)

Adds a marker to the trajectory at scale * path length + offset.

See Also:

scale, offset

addDisplacementMarker

@NotNull
public T addDisplacementMarker(@NotNull
                                        kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> displacement,
                                        @NotNull
                                        MarkerCallback callback)

Adds a marker to the trajectory at displacement evaluated with path length.

See Also:

displacement

build

@NotNull
public Trajectory build()

Constructs the class Trajectory instance.

See Also:

class Trajectory

buildTrajectory

@NotNull
protected Trajectory buildTrajectory(@NotNull
                                              Path path,
                                              @NotNull
                                              java.util.List<com.acmerobotics.roadrunner.trajectory.TemporalMarker> temporalMarkers,
                                              @NotNull
                                              java.util.List<com.acmerobotics.roadrunner.trajectory.DisplacementMarker> displacementMarkers,
                                              @NotNull
                                              java.util.List<com.acmerobotics.roadrunner.trajectory.SpatialMarker> spatialMarkers)

Build a trajectory from path.

See Also:

path