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- All Implemented Interfaces:
public final class SafePosePathBuilderWrapper for PosePathBuilder that provides the same guarantees without throwing PosePathBuilder.RotationContinuityException.
For method-by-method documentation, see the identical methods on PosePathBuilder.
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Constructor Summary
Constructors Constructor Description SafePosePathBuilder(PositionPath<Arclength> path, Rotation2d beginHeading)SafePosePathBuilder(PositionPath<Arclength> path, Double beginHeading)
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Method Summary
Modifier and Type Method Description final RestrictedPosePathBuildertangentUntil(Double disp)final RestrictedPosePathBuilderconstantUntil(Double disp)final RestrictedPosePathBuilderlinearUntil(Double disp, Rotation2d heading)final RestrictedPosePathBuilderlinearUntil(Double disp, Double heading)final SafePosePathBuildersplineUntil(Double disp, Rotation2d heading)final SafePosePathBuildersplineUntil(Double disp, Double heading)final CompositePosePathtangentUntilEnd()final CompositePosePathconstantUntilEnd()final CompositePosePathlinearUntilEnd(Rotation2d heading)final CompositePosePathlinearUntilEnd(Double heading)final CompositePosePathsplineUntilEnd(Rotation2d heading)final CompositePosePathsplineUntilEnd(Double heading)-
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Constructor Detail
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SafePosePathBuilder
SafePosePathBuilder(PositionPath<Arclength> path, Rotation2d beginHeading)
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SafePosePathBuilder
SafePosePathBuilder(PositionPath<Arclength> path, Double beginHeading)
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Method Detail
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tangentUntil
final RestrictedPosePathBuilder tangentUntil(Double disp)
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constantUntil
final RestrictedPosePathBuilder constantUntil(Double disp)
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linearUntil
final RestrictedPosePathBuilder linearUntil(Double disp, Rotation2d heading)
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linearUntil
final RestrictedPosePathBuilder linearUntil(Double disp, Double heading)
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splineUntil
final SafePosePathBuilder splineUntil(Double disp, Rotation2d heading)
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splineUntil
final SafePosePathBuilder splineUntil(Double disp, Double heading)
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tangentUntilEnd
final CompositePosePath tangentUntilEnd()
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constantUntilEnd
final CompositePosePath constantUntilEnd()
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linearUntilEnd
final CompositePosePath linearUntilEnd(Rotation2d heading)
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linearUntilEnd
final CompositePosePath linearUntilEnd(Double heading)
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splineUntilEnd
final CompositePosePath splineUntilEnd(Rotation2d heading)
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splineUntilEnd
final CompositePosePath splineUntilEnd(Double heading)
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