core / com.acmerobotics.roadrunner.trajectory / SimpleTrajectoryBuilder

SimpleTrajectoryBuilder

class SimpleTrajectoryBuilder : BaseTrajectoryBuilder<SimpleTrajectoryBuilder> (source)

Builder for trajectories with static constraints.

Constructors

<init>

Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.

SimpleTrajectoryBuilder(startPose: Pose2d, startTangent: Double = startPose.heading, maxProfileVel: Double, maxProfileAccel: Double, maxProfileJerk: Double = 0.0)SimpleTrajectoryBuilder(startPose: Pose2d, reversed: Boolean, maxProfileVel: Double, maxProfileAccel: Double, maxProfileJerk: Double = 0.0)

Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one.

SimpleTrajectoryBuilder(trajectory: Trajectory, t: Double, maxProfileVel: Double, maxProfileAccel: Double, maxProfileJerk: Double = 0.0)

Functions

buildTrajectory

Build a trajectory from path.

fun buildTrajectory(path: Path, temporalMarkers: List<TemporalMarker>, displacementMarkers: List<DisplacementMarker>, spatialMarkers: List<SpatialMarker>): Trajectory