core / com.acmerobotics.roadrunner.path / PathBuilder

PathBuilder

class PathBuilder (source)

Easy-to-use builder for creating Path instances.

Parameters

startPose - start pose

startTangent - start tangent

path - previous path

s - displacement in previous path

Constructors

<init>

PathBuilder(startPose: Pose2d, startTangent: Double = startPose.heading)
PathBuilder(startPose: Pose2d, reversed: Boolean)
PathBuilder(path: Path, s: Double)

Functions

back	Adds a line straight backward. `fun back(distance: Double): PathBuilder`
build	Constructs the Path instance. `fun build(): Path`
forward	Adds a line straight forward. `fun forward(distance: Double): PathBuilder`
lineTo	Adds a line segment with tangent heading interpolation. `fun lineTo(endPosition: Vector2d): PathBuilder`
lineToConstantHeading	Adds a line segment with constant heading interpolation. `fun lineToConstantHeading(endPosition: Vector2d): PathBuilder`
lineToLinearHeading	Adds a line segment with linear heading interpolation. `fun lineToLinearHeading(endPose: Pose2d): PathBuilder`
lineToSplineHeading	Adds a line segment with spline heading interpolation. `fun lineToSplineHeading(endPose: Pose2d): PathBuilder`
splineTo	Adds a spline segment with tangent heading interpolation. `fun splineTo(endPosition: Vector2d, endTangent: Double): PathBuilder`
splineToConstantHeading	Adds a spline segment with constant heading interpolation. `fun splineToConstantHeading(endPosition: Vector2d, endTangent: Double): PathBuilder`
splineToLinearHeading	Adds a spline segment with linear heading interpolation. `fun splineToLinearHeading(endPose: Pose2d, endTangent: Double): PathBuilder`
splineToSplineHeading	Adds a spline segment with spline heading interpolation. `fun splineToSplineHeading(endPose: Pose2d, endTangent: Double): PathBuilder`
strafeLeft	Adds a segment that strafes left in the robot reference frame. `fun strafeLeft(distance: Double): PathBuilder`
strafeRight	Adds a segment that strafes right in the robot reference frame. `fun strafeRight(distance: Double): PathBuilder`
strafeTo	Adds a strafe segment (i.e., a line segment with constant heading interpolation). `fun strafeTo(endPosition: Vector2d): PathBuilder`