-
- All Implemented Interfaces:
public final class PosePathBuilder
-
-
Nested Class Summary
Nested Classes Modifier and Type Class Description public final classPosePathBuilder.RotationContinuityException
-
Constructor Summary
Constructors Constructor Description PosePathBuilder(PositionPath<Arclength> path, Rotation2d beginHeading)PosePathBuilder(PositionPath<Arclength> path, Double beginHeading)
-
Method Summary
Modifier and Type Method Description final PosePathBuildertangentUntil(Double disp)Fills in tangent headings until displacement disp. final PosePathBuilderconstantUntil(Double disp)Fills in constant headings until displacement disp. final PosePathBuilderlinearUntil(Double disp, Rotation2d heading)Fills in headings interpolated linearly to heading heading at displacement disp. final PosePathBuilderlinearUntil(Double disp, Double heading)Fills in headings interpolated linearly to heading heading at displacement disp. final PosePathBuildersplineUntil(Double disp, Rotation2d heading)final PosePathBuildersplineUntil(Double disp, Double heading)final CompositePosePathtangentUntilEnd()final CompositePosePathconstantUntilEnd()final CompositePosePathlinearUntilEnd(Rotation2d heading)final CompositePosePathlinearUntilEnd(Double heading)final CompositePosePathsplineUntilEnd(Rotation2d heading)final CompositePosePathsplineUntilEnd(Double heading)-
-
Constructor Detail
-
PosePathBuilder
PosePathBuilder(PositionPath<Arclength> path, Rotation2d beginHeading)
-
PosePathBuilder
PosePathBuilder(PositionPath<Arclength> path, Double beginHeading)
-
-
Method Detail
-
tangentUntil
final PosePathBuilder tangentUntil(Double disp)
Fills in tangent headings until displacement disp.
-
constantUntil
final PosePathBuilder constantUntil(Double disp)
Fills in constant headings until displacement disp.
-
linearUntil
final PosePathBuilder linearUntil(Double disp, Rotation2d heading)
-
linearUntil
final PosePathBuilder linearUntil(Double disp, Double heading)
-
splineUntil
final PosePathBuilder splineUntil(Double disp, Rotation2d heading)
-
splineUntil
final PosePathBuilder splineUntil(Double disp, Double heading)
-
tangentUntilEnd
final CompositePosePath tangentUntilEnd()
-
constantUntilEnd
final CompositePosePath constantUntilEnd()
-
linearUntilEnd
final CompositePosePath linearUntilEnd(Rotation2d heading)
-
linearUntilEnd
final CompositePosePath linearUntilEnd(Double heading)
-
splineUntilEnd
final CompositePosePath splineUntilEnd(Rotation2d heading)
-
splineUntilEnd
final CompositePosePath splineUntilEnd(Double heading)
-
-
-
-