class TrajectoryBuilder : BaseTrajectoryBuilder<TrajectoryBuilder> (source)
Builder for trajectories with dynamic constraints.
<init> |
Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest. TrajectoryBuilder(startPose: Pose2d, startTangent: Double = startPose.heading, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, resolution: Double = 0.25)TrajectoryBuilder(startPose: Pose2d, reversed: Boolean, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, resolution: Double = 0.25)
Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one. TrajectoryBuilder(trajectory: Trajectory, t: Double, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, resolution: Double = 0.25) |
back |
Adds a line straight backward. fun back(distance: Double, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |
buildTrajectory |
Build a trajectory from path. fun buildTrajectory(path: Path, temporalMarkers: List<TemporalMarker>, displacementMarkers: List<DisplacementMarker>, spatialMarkers: List<SpatialMarker>): Trajectory |
forward |
Adds a line straight forward. fun forward(distance: Double, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |
lineTo |
Adds a line segment with tangent heading interpolation. fun lineTo(endPosition: Vector2d, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |
lineToConstantHeading |
Adds a line segment with constant heading interpolation. fun lineToConstantHeading(endPosition: Vector2d, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |
lineToLinearHeading |
Adds a line segment with linear heading interpolation. fun lineToLinearHeading(endPose: Pose2d, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |
lineToSplineHeading |
Adds a line segment with spline heading interpolation. fun lineToSplineHeading(endPose: Pose2d, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |
splineTo |
Adds a spline segment with tangent heading interpolation. fun splineTo(endPosition: Vector2d, endTangent: Double, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |
splineToConstantHeading |
Adds a spline segment with constant heading interpolation. fun splineToConstantHeading(endPosition: Vector2d, endTangent: Double, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |
splineToLinearHeading |
Adds a spline segment with linear heading interpolation. fun splineToLinearHeading(endPose: Pose2d, endTangent: Double, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |
splineToSplineHeading |
Adds a spline segment with spline heading interpolation. fun splineToSplineHeading(endPose: Pose2d, endTangent: Double, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |
strafeLeft |
Adds a segment that strafes left in the robot reference frame. fun strafeLeft(distance: Double, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |
strafeRight |
Adds a segment that strafes right in the robot reference frame. fun strafeRight(distance: Double, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |
strafeTo |
Adds a strafe path segment. fun strafeTo(endPosition: Vector2d, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder |