class SimpleTrajectoryBuilder : BaseTrajectoryBuilder<SimpleTrajectoryBuilder> (source)
Builder for trajectories with static constraints.
<init> |
Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest. SimpleTrajectoryBuilder(startPose: Pose2d, startTangent: Double = startPose.heading, maxProfileVel: Double, maxProfileAccel: Double, maxProfileJerk: Double = 0.0)SimpleTrajectoryBuilder(startPose: Pose2d, reversed: Boolean, maxProfileVel: Double, maxProfileAccel: Double, maxProfileJerk: Double = 0.0)
Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one. SimpleTrajectoryBuilder(trajectory: Trajectory, t: Double, maxProfileVel: Double, maxProfileAccel: Double, maxProfileJerk: Double = 0.0) |
buildTrajectory |
Build a trajectory from path. fun buildTrajectory(path: Path, temporalMarkers: List<TemporalMarker>, displacementMarkers: List<DisplacementMarker>, spatialMarkers: List<SpatialMarker>): Trajectory |