public class TrajectoryGenerator
Trajectory generator for creating trajectories with dynamic and static constraints from paths.
public static TrajectoryGenerator INSTANCE
Trajectory generator for creating trajectories with dynamic and static constraints from paths.
@JvmOverloads @NotNull public Trajectory generateTrajectory(@NotNull Path path, @NotNull TrajectoryVelocityConstraint velocityConstraint, @NotNull TrajectoryAccelerationConstraint accelerationConstraint, @NotNull MotionState start, @NotNull MotionState goal, @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, double resolution)
Generate a dynamic constraint trajectory.
path
- pathstart
- start motion stategoal
- goal motion statetemporalMarkers
- temporal markersspatialMarkers
- spatial markersresolution
- dynamic profile sampling resolution@JvmOverloads @NotNull public Trajectory generateTrajectory(@NotNull Path path, @NotNull TrajectoryVelocityConstraint velocityConstraint, @NotNull TrajectoryAccelerationConstraint accelerationConstraint, @NotNull MotionState start, @NotNull MotionState goal, @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)
Generate a dynamic constraint trajectory.
path
- pathstart
- start motion stategoal
- goal motion statetemporalMarkers
- temporal markersspatialMarkers
- spatial markers@JvmOverloads @NotNull public Trajectory generateTrajectory(@NotNull Path path, @NotNull TrajectoryVelocityConstraint velocityConstraint, @NotNull TrajectoryAccelerationConstraint accelerationConstraint, @NotNull MotionState start, @NotNull MotionState goal, @NotNull java.util.List<com.acmerobotics.roadrunner.trajectory.TemporalMarker> temporalMarkers, @NotNull java.util.List<com.acmerobotics.roadrunner.trajectory.DisplacementMarker> displacementMarkers)
Generate a dynamic constraint trajectory.
path
- pathstart
- start motion stategoal
- goal motion statetemporalMarkers
- temporal markers@JvmOverloads @NotNull public Trajectory generateTrajectory(@NotNull Path path, @NotNull TrajectoryVelocityConstraint velocityConstraint, @NotNull TrajectoryAccelerationConstraint accelerationConstraint, @NotNull MotionState start, @NotNull MotionState goal, @NotNull java.util.List<com.acmerobotics.roadrunner.trajectory.TemporalMarker> temporalMarkers)
Generate a dynamic constraint trajectory.
path
- pathstart
- start motion stategoal
- goal motion statetemporalMarkers
- temporal markers@JvmOverloads @NotNull public Trajectory generateTrajectory(@NotNull Path path, @NotNull TrajectoryVelocityConstraint velocityConstraint, @NotNull TrajectoryAccelerationConstraint accelerationConstraint, @NotNull MotionState start, @NotNull MotionState goal)
Generate a dynamic constraint trajectory.
path
- pathstart
- start motion stategoal
- goal motion state@JvmOverloads @NotNull public Trajectory generateTrajectory(@NotNull Path path, @NotNull TrajectoryVelocityConstraint velocityConstraint, @NotNull TrajectoryAccelerationConstraint accelerationConstraint, @NotNull MotionState start)
Generate a dynamic constraint trajectory.
path
- pathstart
- start motion state@JvmOverloads @NotNull public Trajectory generateTrajectory(@NotNull Path path, @NotNull TrajectoryVelocityConstraint velocityConstraint, @NotNull TrajectoryAccelerationConstraint accelerationConstraint)
Generate a dynamic constraint trajectory.
path
- path@JvmOverloads @NotNull public Trajectory generateSimpleTrajectory(@NotNull Path path, double maxProfileVel, double maxProfileAccel, double maxProfileJerk, @NotNull MotionState start, @NotNull MotionState goal, @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)
Generate a simple constraint trajectory.
path
- pathmaxProfileVel
- maximum velocitymaxProfileAccel
- maximum accelerationmaxProfileJerk
- maximum jerkstart
- start motion stategoal
- goal motion statetemporalMarkers
- temporal markersspatialMarkers
- spatial markers@JvmOverloads @NotNull public Trajectory generateSimpleTrajectory(@NotNull Path path, double maxProfileVel, double maxProfileAccel, double maxProfileJerk, @NotNull MotionState start, @NotNull MotionState goal, @NotNull java.util.List<com.acmerobotics.roadrunner.trajectory.TemporalMarker> temporalMarkers, @NotNull java.util.List<com.acmerobotics.roadrunner.trajectory.DisplacementMarker> displacementMarkers)
Generate a simple constraint trajectory.
path
- pathmaxProfileVel
- maximum velocitymaxProfileAccel
- maximum accelerationmaxProfileJerk
- maximum jerkstart
- start motion stategoal
- goal motion statetemporalMarkers
- temporal markers@JvmOverloads @NotNull public Trajectory generateSimpleTrajectory(@NotNull Path path, double maxProfileVel, double maxProfileAccel, double maxProfileJerk, @NotNull MotionState start, @NotNull MotionState goal, @NotNull java.util.List<com.acmerobotics.roadrunner.trajectory.TemporalMarker> temporalMarkers)
Generate a simple constraint trajectory.
path
- pathmaxProfileVel
- maximum velocitymaxProfileAccel
- maximum accelerationmaxProfileJerk
- maximum jerkstart
- start motion stategoal
- goal motion statetemporalMarkers
- temporal markers@JvmOverloads @NotNull public Trajectory generateSimpleTrajectory(@NotNull Path path, double maxProfileVel, double maxProfileAccel, double maxProfileJerk, @NotNull MotionState start, @NotNull MotionState goal)
Generate a simple constraint trajectory.
path
- pathmaxProfileVel
- maximum velocitymaxProfileAccel
- maximum accelerationmaxProfileJerk
- maximum jerkstart
- start motion stategoal
- goal motion state@JvmOverloads @NotNull public Trajectory generateSimpleTrajectory(@NotNull Path path, double maxProfileVel, double maxProfileAccel, double maxProfileJerk, @NotNull MotionState start)
Generate a simple constraint trajectory.
path
- pathmaxProfileVel
- maximum velocitymaxProfileAccel
- maximum accelerationmaxProfileJerk
- maximum jerkstart
- start motion state@JvmOverloads @NotNull public Trajectory generateSimpleTrajectory(@NotNull Path path, double maxProfileVel, double maxProfileAccel, double maxProfileJerk)
Generate a simple constraint trajectory.
path
- pathmaxProfileVel
- maximum velocitymaxProfileAccel
- maximum accelerationmaxProfileJerk
- maximum jerk