core / com.acmerobotics.roadrunner.trajectory.config / TrajectoryConfig

TrajectoryConfig

data class TrajectoryConfig (source)

Configuration describing a basic trajectory (a simpler frontend alternative to BaseTrajectoryBuilder).

Types

HeadingInterpolationType

Heading interpolation for a specific trajectory configuration step.

enum class HeadingInterpolationType

Waypoint

Description of a single segment of a composite trajectory.

data class Waypoint

Constructors

<init>

Configuration describing a basic trajectory (a simpler frontend alternative to BaseTrajectoryBuilder).

TrajectoryConfig(startPose: Pose2d, startTangent: Double, waypoints: List<Waypoint>, resolution: Double)

Properties

resolution

val resolution: Double

startPose

val startPose: Pose2d

startTangent

val startTangent: Double

version

val version: Int

waypoints

val waypoints: List<Waypoint>

Functions

toTrajectory

fun toTrajectory(groupConfig: TrajectoryGroupConfig): Trajectory?

toTrajectoryBuilder

fun toTrajectoryBuilder(groupConfig: TrajectoryGroupConfig): TrajectoryBuilder?