Constructor Detail

• SafeTrajectoryBuilder

  SafeTrajectoryBuilder(Pose2d beginPose, Rotation2d beginTangent, Double eps, Double beginEndVel, VelConstraint baseVelConstraint, AccelConstraint baseAccelConstraint, Double resolution, TrajectoryBuilder.PoseMap poseMap)

• SafeTrajectoryBuilder

  SafeTrajectoryBuilder(Pose2d beginPose, Rotation2d beginTangent, Double eps, Double beginEndVel, VelConstraint baseVelConstraint, AccelConstraint baseAccelConstraint, Double resolution)

Method Detail

• forward

  @JvmOverloads() final TangentTrajectoryBuilder forward(Double dist, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• forward

  @JvmOverloads() final TangentTrajectoryBuilder forward(Double dist, VelConstraint velConstraintOverride)

• forward

  @JvmOverloads() final TangentTrajectoryBuilder forward(Double dist)

• forwardConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder forwardConstantHeading(Double dist, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• forwardConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder forwardConstantHeading(Double dist, VelConstraint velConstraintOverride)

• forwardConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder forwardConstantHeading(Double dist)

• forwardLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder forwardLinearHeading(Double dist, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• forwardLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder forwardLinearHeading(Double dist, Rotation2d heading, VelConstraint velConstraintOverride)

• forwardLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder forwardLinearHeading(Double dist, Rotation2d heading)

• forwardLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder forwardLinearHeading(Double dist, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• forwardLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder forwardLinearHeading(Double dist, Double heading, VelConstraint velConstraintOverride)

• forwardLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder forwardLinearHeading(Double dist, Double heading)

• forwardSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder forwardSplineHeading(Double dist, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• forwardSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder forwardSplineHeading(Double dist, Rotation2d heading, VelConstraint velConstraintOverride)

• forwardSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder forwardSplineHeading(Double dist, Rotation2d heading)

• forwardSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder forwardSplineHeading(Double dist, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• forwardSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder forwardSplineHeading(Double dist, Double heading, VelConstraint velConstraintOverride)

• forwardSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder forwardSplineHeading(Double dist, Double heading)

• lineToX

  @JvmOverloads() final TangentTrajectoryBuilder lineToX(Double posX, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToX

  @JvmOverloads() final TangentTrajectoryBuilder lineToX(Double posX, VelConstraint velConstraintOverride)

• lineToX

  @JvmOverloads() final TangentTrajectoryBuilder lineToX(Double posX)

• lineToXConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder lineToXConstantHeading(Double posX, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToXConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder lineToXConstantHeading(Double posX, VelConstraint velConstraintOverride)

• lineToXConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder lineToXConstantHeading(Double posX)

• lineToXLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder lineToXLinearHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToXLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder lineToXLinearHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride)

• lineToXLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder lineToXLinearHeading(Double posX, Rotation2d heading)

• lineToXLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder lineToXLinearHeading(Double posX, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToXLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder lineToXLinearHeading(Double posX, Double heading, VelConstraint velConstraintOverride)

• lineToXLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder lineToXLinearHeading(Double posX, Double heading)

• lineToXSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder lineToXSplineHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToXSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder lineToXSplineHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride)

• lineToXSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder lineToXSplineHeading(Double posX, Rotation2d heading)

• lineToXSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder lineToXSplineHeading(Double posX, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToXSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder lineToXSplineHeading(Double posX, Double heading, VelConstraint velConstraintOverride)

• lineToXSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder lineToXSplineHeading(Double posX, Double heading)

• lineToY

  @JvmOverloads() final TangentTrajectoryBuilder lineToY(Double posY, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToY

  @JvmOverloads() final TangentTrajectoryBuilder lineToY(Double posY, VelConstraint velConstraintOverride)

• lineToY

  @JvmOverloads() final TangentTrajectoryBuilder lineToY(Double posY)

• lineToYConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder lineToYConstantHeading(Double posY, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToYConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder lineToYConstantHeading(Double posY, VelConstraint velConstraintOverride)

• lineToYConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder lineToYConstantHeading(Double posY)

• lineToYLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder lineToYLinearHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToYLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder lineToYLinearHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride)

• lineToYLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder lineToYLinearHeading(Double posY, Rotation2d heading)

• lineToYLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder lineToYLinearHeading(Double posY, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToYLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder lineToYLinearHeading(Double posY, Double heading, VelConstraint velConstraintOverride)

• lineToYLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder lineToYLinearHeading(Double posY, Double heading)

• lineToYSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder lineToYSplineHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToYSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder lineToYSplineHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride)

• lineToYSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder lineToYSplineHeading(Double posY, Rotation2d heading)

• lineToYSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder lineToYSplineHeading(Double posY, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToYSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder lineToYSplineHeading(Double posY, Double heading, VelConstraint velConstraintOverride)

• lineToYSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder lineToYSplineHeading(Double posY, Double heading)

• splineTo

  @JvmOverloads() final TangentTrajectoryBuilder splineTo(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineTo

  @JvmOverloads() final TangentTrajectoryBuilder splineTo(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride)

• splineTo

  @JvmOverloads() final TangentTrajectoryBuilder splineTo(Vector2d pos, Rotation2d tangent)

• splineTo

  @JvmOverloads() final TangentTrajectoryBuilder splineTo(Vector2d pos, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineTo

  @JvmOverloads() final TangentTrajectoryBuilder splineTo(Vector2d pos, Double tangent, VelConstraint velConstraintOverride)

• splineTo

  @JvmOverloads() final TangentTrajectoryBuilder splineTo(Vector2d pos, Double tangent)

• splineToConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder splineToConstantHeading(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineToConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder splineToConstantHeading(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride)

• splineToConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder splineToConstantHeading(Vector2d pos, Rotation2d tangent)

• splineToConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder splineToConstantHeading(Vector2d pos, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineToConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder splineToConstantHeading(Vector2d pos, Double tangent, VelConstraint velConstraintOverride)

• splineToConstantHeading

  @JvmOverloads() final ConstantTrajectoryBuilder splineToConstantHeading(Vector2d pos, Double tangent)

• splineToLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder splineToLinearHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineToLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder splineToLinearHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride)

• splineToLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder splineToLinearHeading(Pose2d pose, Rotation2d tangent)

• splineToLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder splineToLinearHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineToLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder splineToLinearHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride)

• splineToLinearHeading

  @JvmOverloads() final RestrictedTrajectoryBuilder splineToLinearHeading(Pose2d pose, Double tangent)

• splineToSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder splineToSplineHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineToSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder splineToSplineHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride)

• splineToSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder splineToSplineHeading(Pose2d pose, Rotation2d tangent)

• splineToSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder splineToSplineHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineToSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder splineToSplineHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride)

• splineToSplineHeading

  @JvmOverloads() final SafeTrajectoryBuilder splineToSplineHeading(Pose2d pose, Double tangent)

• build

   final Trajectory build()