com.acmerobotics.roadrunner.trajectory

Class Trajectory

com.acmerobotics.roadrunner.trajectory.Trajectory

public class Trajectory

Trajectory backed by a class Path and a class MotionProfile.

See Also:

class Path, class MotionProfile

Constructor Detail

Trajectory

@JvmOverloads
public Trajectory(@NotNull
                                Path path,
                                @NotNull
                                MotionProfile profile,
                                @NotNull
                                java.util.List<com.acmerobotics.roadrunner.trajectory.TrajectoryMarker> markers)

Trajectory backed by a class Path and a class MotionProfile.

Parameters:

path - path

profile - motion profile

See Also:

class Path, class MotionProfile

Trajectory

@JvmOverloads
public Trajectory(@NotNull
                                Path path,
                                @NotNull
                                MotionProfile profile)

Trajectory backed by a class Path and a class MotionProfile.

Parameters:

path - path

profile - motion profile

See Also:

class Path, class MotionProfile

Method Detail

duration

public double duration()

get

@NotNull
public Pose2d get(double time)

velocity

@NotNull
public Pose2d velocity(double time)

acceleration

@NotNull
public Pose2d acceleration(double time)

start

@NotNull
public Pose2d start()

end

@NotNull
public Pose2d end()

getPath

@NotNull
public Path getPath()

path

getProfile

@NotNull
public MotionProfile getProfile()

motion profile

getMarkers

@NotNull
public java.util.List<com.acmerobotics.roadrunner.trajectory.TrajectoryMarker> getMarkers()