com.acmerobotics.roadrunner.trajectory.config

Class TrajectoryGroupConfig

com.acmerobotics.roadrunner.trajectory.config.TrajectoryGroupConfig

public class TrajectoryGroupConfig

Configuration describing constraints and other robot-specific parameters that are shared by a group of trajectories.

Constructor Detail

TrajectoryGroupConfig

public TrajectoryGroupConfig(double maxVel,
                             double maxAccel,
                             double maxAngVel,
                             double maxAngAccel,
                             double robotLength,
                             double robotWidth,
                             @NotNull
                             com.acmerobotics.roadrunner.trajectory.config.TrajectoryGroupConfig.DriveType driveType,
                             @Nullable
                             java.lang.Double trackWidth,
                             @Nullable
                             java.lang.Double wheelBase,
                             @Nullable
                             java.lang.Double lateralMultiplier)

Configuration describing constraints and other robot-specific parameters that are shared by a group of trajectories.

Method Detail

getVelConstraint

@NotNull
public TrajectoryVelocityConstraint getVelConstraint()

getAccelConstraint

@NotNull
public TrajectoryAccelerationConstraint getAccelConstraint()

getMaxVel

public double getMaxVel()

getMaxAccel

public double getMaxAccel()

getMaxAngVel

public double getMaxAngVel()

getMaxAngAccel

public double getMaxAngAccel()

getRobotLength

public double getRobotLength()

getRobotWidth

public double getRobotWidth()

getDriveType

@NotNull
public com.acmerobotics.roadrunner.trajectory.config.TrajectoryGroupConfig.DriveType getDriveType()

getTrackWidth

@Nullable
public java.lang.Double getTrackWidth()

getWheelBase

@Nullable
public java.lang.Double getWheelBase()

getLateralMultiplier

@Nullable
public java.lang.Double getLateralMultiplier()

component1

public double component1()

component2

public double component2()

component3

public double component3()

component4

public double component4()

component5

public double component5()

component6

public double component6()

component7

@NotNull
public com.acmerobotics.roadrunner.trajectory.config.TrajectoryGroupConfig.DriveType component7()

component8

@Nullable
public java.lang.Double component8()

component9

@Nullable
public java.lang.Double component9()

component10

@Nullable
public java.lang.Double component10()

copy

@NotNull
public TrajectoryGroupConfig copy(double maxVel,
                                           double maxAccel,
                                           double maxAngVel,
                                           double maxAngAccel,
                                           double robotLength,
                                           double robotWidth,
                                           @NotNull
                                           com.acmerobotics.roadrunner.trajectory.config.TrajectoryGroupConfig.DriveType driveType,
                                           @Nullable
                                           java.lang.Double trackWidth,
                                           @Nullable
                                           java.lang.Double wheelBase,
                                           @Nullable
                                           java.lang.Double lateralMultiplier)

Configuration describing constraints and other robot-specific parameters that are shared by a group of trajectories.

toString

@NotNull
public java.lang.String toString()

hashCode

public int hashCode()

equals

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