com.acmerobotics.roadrunner.trajectory.config

Class TrajectoryConfig.Waypoint

com.acmerobotics.roadrunner.trajectory.config.TrajectoryConfig.Waypoint

Enclosing class:

TrajectoryConfig

public static class TrajectoryConfig.Waypoint

Description of a single segment of a composite trajectory.

Constructor Detail

Waypoint

public Waypoint(@NotNull
                Vector2d position,
                double heading,
                double tangent,
                @NotNull
                com.acmerobotics.roadrunner.trajectory.config.TrajectoryConfig.HeadingInterpolationType interpolationType)

Description of a single segment of a composite trajectory.

Method Detail

getPosition

@NotNull
public Vector2d getPosition()

getHeading

public double getHeading()

getTangent

public double getTangent()

getInterpolationType

@NotNull
public com.acmerobotics.roadrunner.trajectory.config.TrajectoryConfig.HeadingInterpolationType getInterpolationType()

component1

@NotNull
public Vector2d component1()

component2

public double component2()

component3

public double component3()

component4

@NotNull
public com.acmerobotics.roadrunner.trajectory.config.TrajectoryConfig.HeadingInterpolationType component4()

copy

@NotNull
public com.acmerobotics.roadrunner.trajectory.config.TrajectoryConfig.Waypoint copy(@NotNull
                                                                                             Vector2d position,
                                                                                             double heading,
                                                                                             double tangent,
                                                                                             @NotNull
                                                                                             com.acmerobotics.roadrunner.trajectory.config.TrajectoryConfig.HeadingInterpolationType interpolationType)

Description of a single segment of a composite trajectory.

toString

@NotNull
public java.lang.String toString()

hashCode

public int hashCode()

equals

public boolean equals(@Nullable
                      java.lang.Object p)