abstract class BaseTrajectoryBuilder<T : BaseTrajectoryBuilder<T>> (source)
Easy-to-use builder for creating Trajectory instances.
trajectory - initial trajectory (for splicing)
t - time index in previous trajectory to begin new trajectory
<init> |
Easy-to-use builder for creating Trajectory instances. BaseTrajectoryBuilder(startPose: Pose2d?, startTangent: Double?, trajectory: Trajectory?, t: Double?) |
pathBuilder |
var pathBuilder: PathBuilder |
addDisplacementMarker |
Adds a marker at the current position of the trajectory. fun addDisplacementMarker(callback: MarkerCallback): T
Adds a marker to the trajectory at displacement. fun addDisplacementMarker(displacement: Double, callback: MarkerCallback): T
Adds a marker to the trajectory at scale * path length + offset. fun addDisplacementMarker(scale: Double, offset: Double, callback: MarkerCallback): T
Adds a marker to the trajectory at displacement evaluated with path length. fun addDisplacementMarker(displacement: (Double) -> Double, callback: MarkerCallback): T |
addSpatialMarker |
Adds a marker that will be triggered at the closest trajectory point to point. fun addSpatialMarker(point: Vector2d, callback: MarkerCallback): T |
addTemporalMarker |
Adds a marker to the trajectory at time. fun addTemporalMarker(time: Double, callback: MarkerCallback): T
Adds a marker to the trajectory at scale * trajectory duration + offset. fun addTemporalMarker(scale: Double, offset: Double, callback: MarkerCallback): T
Adds a marker to the trajectory at time evaluated with the trajectory duration. fun addTemporalMarker(time: (Double) -> Double, callback: MarkerCallback): T |
back |
Adds a line straight backward. fun back(distance: Double): T |
build |
Constructs the Trajectory instance. fun build(): Trajectory |
buildTrajectory |
Build a trajectory from path. abstract fun buildTrajectory(path: Path, temporalMarkers: List<TemporalMarker>, displacementMarkers: List<DisplacementMarker>, spatialMarkers: List<SpatialMarker>): Trajectory |
forward |
Adds a line straight forward. fun forward(distance: Double): T |
lineTo |
Adds a line segment with tangent heading interpolation. fun lineTo(endPosition: Vector2d): T |
lineToConstantHeading |
Adds a line segment with constant heading interpolation. fun lineToConstantHeading(endPosition: Vector2d): T |
lineToLinearHeading |
Adds a line segment with linear heading interpolation. fun lineToLinearHeading(endPose: Pose2d): T |
lineToSplineHeading |
Adds a line segment with spline heading interpolation. fun lineToSplineHeading(endPose: Pose2d): T |
splineTo |
Adds a spline segment with tangent heading interpolation. fun splineTo(endPosition: Vector2d, endTangent: Double): T |
splineToConstantHeading |
Adds a spline segment with constant heading interpolation. fun splineToConstantHeading(endPosition: Vector2d, endTangent: Double): T |
splineToLinearHeading |
Adds a spline segment with linear heading interpolation. fun splineToLinearHeading(endPose: Pose2d, endTangent: Double): T |
splineToSplineHeading |
Adds a spline segment with spline heading interpolation. fun splineToSplineHeading(endPose: Pose2d, endTangent: Double): T |
strafeLeft |
Adds a segment that strafes left in the robot reference frame. fun strafeLeft(distance: Double): T |
strafeRight |
Adds a segment that strafes right in the robot reference frame. fun strafeRight(distance: Double): T |
strafeTo |
Adds a strafe path segment. fun strafeTo(endPosition: Vector2d): T |
SimpleTrajectoryBuilder |
Builder for trajectories with static constraints. class SimpleTrajectoryBuilder : BaseTrajectoryBuilder<SimpleTrajectoryBuilder> |
TrajectoryBuilder |
Builder for trajectories with dynamic constraints. class TrajectoryBuilder : BaseTrajectoryBuilder<TrajectoryBuilder> |