com.acmerobotics.roadrunner.trajectory

Class TrajectoryBuilder

com.acmerobotics.roadrunner.trajectory.BaseTrajectoryBuilder<T>

com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder

public class TrajectoryBuilder
extends BaseTrajectoryBuilder<T>

Builder for trajectories with dynamic constraints.

Constructor Detail

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Pose2d startPose,
                                       double startTangent,
                                       @NotNull
                                       TrajectoryVelocityConstraint baseVelConstraint,
                                       @NotNull
                                       TrajectoryAccelerationConstraint baseAccelConstraint,
                                       double resolution)

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

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Pose2d startPose,
                                       double startTangent,
                                       @NotNull
                                       TrajectoryVelocityConstraint baseVelConstraint,
                                       @NotNull
                                       TrajectoryAccelerationConstraint baseAccelConstraint)

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

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Pose2d startPose,
                                       @NotNull
                                       TrajectoryVelocityConstraint baseVelConstraint,
                                       @NotNull
                                       TrajectoryAccelerationConstraint baseAccelConstraint)

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

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Pose2d startPose,
                                       boolean reversed,
                                       @NotNull
                                       TrajectoryVelocityConstraint baseVelConstraint,
                                       @NotNull
                                       TrajectoryAccelerationConstraint baseAccelConstraint,
                                       double resolution)

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Pose2d startPose,
                                       boolean reversed,
                                       @NotNull
                                       TrajectoryVelocityConstraint baseVelConstraint,
                                       @NotNull
                                       TrajectoryAccelerationConstraint baseAccelConstraint)

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Trajectory trajectory,
                                       double t,
                                       @NotNull
                                       TrajectoryVelocityConstraint baseVelConstraint,
                                       @NotNull
                                       TrajectoryAccelerationConstraint baseAccelConstraint,
                                       double resolution)

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

TrajectoryBuilder

@JvmOverloads
public TrajectoryBuilder(@NotNull
                                       Trajectory trajectory,
                                       double t,
                                       @NotNull
                                       TrajectoryVelocityConstraint baseVelConstraint,
                                       @NotNull
                                       TrajectoryAccelerationConstraint baseAccelConstraint)

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

Method Detail

lineTo

@NotNull
public TrajectoryBuilder lineTo(@NotNull
                                         Vector2d endPosition,
                                         @Nullable
                                         TrajectoryVelocityConstraint velConstraintOverride,
                                         @Nullable
                                         TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a line segment with tangent heading interpolation.

Parameters:

endPosition - end position

lineToConstantHeading

@NotNull
public TrajectoryBuilder lineToConstantHeading(@NotNull
                                                        Vector2d endPosition,
                                                        @Nullable
                                                        TrajectoryVelocityConstraint velConstraintOverride,
                                                        @Nullable
                                                        TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a line segment with constant heading interpolation.

Parameters:

endPosition - end position

lineToLinearHeading

@NotNull
public TrajectoryBuilder lineToLinearHeading(@NotNull
                                                      Pose2d endPose,
                                                      @Nullable
                                                      TrajectoryVelocityConstraint velConstraintOverride,
                                                      @Nullable
                                                      TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a line segment with linear heading interpolation.

Parameters:

endPose - end pose

lineToSplineHeading

@NotNull
public TrajectoryBuilder lineToSplineHeading(@NotNull
                                                      Pose2d endPose,
                                                      @Nullable
                                                      TrajectoryVelocityConstraint velConstraintOverride,
                                                      @Nullable
                                                      TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a line segment with spline heading interpolation.

Parameters:

endPose - end pose

strafeTo

@NotNull
public TrajectoryBuilder strafeTo(@NotNull
                                           Vector2d endPosition,
                                           @Nullable
                                           TrajectoryVelocityConstraint velConstraintOverride,
                                           @Nullable
                                           TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a strafe path segment.

Parameters:

endPosition - end position

forward

@NotNull
public TrajectoryBuilder forward(double distance,
                                          @Nullable
                                          TrajectoryVelocityConstraint velConstraintOverride,
                                          @Nullable
                                          TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a line straight forward.

Parameters:

distance - distance to travel forward

back

@NotNull
public TrajectoryBuilder back(double distance,
                                       @Nullable
                                       TrajectoryVelocityConstraint velConstraintOverride,
                                       @Nullable
                                       TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a line straight backward.

Parameters:

distance - distance to travel backward

strafeLeft

@NotNull
public TrajectoryBuilder strafeLeft(double distance,
                                             @Nullable
                                             TrajectoryVelocityConstraint velConstraintOverride,
                                             @Nullable
                                             TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a segment that strafes left in the robot reference frame.

Parameters:

distance - distance to strafe left

strafeRight

@NotNull
public TrajectoryBuilder strafeRight(double distance,
                                              @Nullable
                                              TrajectoryVelocityConstraint velConstraintOverride,
                                              @Nullable
                                              TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a segment that strafes right in the robot reference frame.

Parameters:

distance - distance to strafe right

splineTo

@NotNull
public TrajectoryBuilder splineTo(@NotNull
                                           Vector2d endPosition,
                                           double endTangent,
                                           @Nullable
                                           TrajectoryVelocityConstraint velConstraintOverride,
                                           @Nullable
                                           TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a spline segment with tangent heading interpolation.

Parameters:

endPosition - end position

endTangent - end tangent

splineToConstantHeading

@NotNull
public TrajectoryBuilder splineToConstantHeading(@NotNull
                                                          Vector2d endPosition,
                                                          double endTangent,
                                                          @Nullable
                                                          TrajectoryVelocityConstraint velConstraintOverride,
                                                          @Nullable
                                                          TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a spline segment with constant heading interpolation.

Parameters:

endPosition - end position

endTangent - end tangent

splineToLinearHeading

@NotNull
public TrajectoryBuilder splineToLinearHeading(@NotNull
                                                        Pose2d endPose,
                                                        double endTangent,
                                                        @Nullable
                                                        TrajectoryVelocityConstraint velConstraintOverride,
                                                        @Nullable
                                                        TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a spline segment with linear heading interpolation.

Parameters:

endPose - end pose

endTangent - end tangent

splineToSplineHeading

@NotNull
public TrajectoryBuilder splineToSplineHeading(@NotNull
                                                        Pose2d endPose,
                                                        double endTangent,
                                                        @Nullable
                                                        TrajectoryVelocityConstraint velConstraintOverride,
                                                        @Nullable
                                                        TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a spline segment with spline heading interpolation.

Parameters:

endPose - end pose

buildTrajectory

@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.

See Also:

path