public class SimpleTrajectoryBuilder extends BaseTrajectoryBuilder<T>
Builder for trajectories with static constraints.
@JvmOverloads
public SimpleTrajectoryBuilder(@NotNull
Pose2d startPose,
double startTangent,
double maxProfileVel,
double maxProfileAccel,
double maxProfileJerk)
Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.
@JvmOverloads
public SimpleTrajectoryBuilder(@NotNull
Pose2d startPose,
double startTangent,
double maxProfileVel,
double maxProfileAccel)
Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.
@JvmOverloads
public SimpleTrajectoryBuilder(@NotNull
Pose2d startPose,
double maxProfileVel,
double maxProfileAccel)
Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.
public SimpleTrajectoryBuilder(@NotNull
Pose2d startPose,
boolean reversed,
double maxProfileVel,
double maxProfileAccel,
double maxProfileJerk)
public SimpleTrajectoryBuilder(@NotNull
Trajectory trajectory,
double t,
double maxProfileVel,
double maxProfileAccel,
double maxProfileJerk)
Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one.
@NotNull protected Trajectory buildTrajectory(@NotNull Path path, @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)
Build a trajectory from path.
path