core/com.acmerobotics.roadrunner/SafePathBuilder

SafePathBuilder

class SafePathBuilder

Constructors

SafePathBuilder

fun SafePathBuilder( beginPose: Pose2d, beginTangent: Rotation2d, eps: Double)

SafePathBuilder

fun SafePathBuilder( beginPose: Pose2d, beginTangent: Double, eps: Double)

Functions

fun build(): CompositePosePath

fun forward(dist: Double): TangentPathBuilder

forwardConstantHeading

fun forwardConstantHeading(dist: Double): ConstantPathBuilder

forwardLinearHeading

fun forwardLinearHeading(dist: Double, heading: Rotation2d): RestrictedPathBuilder

fun forwardLinearHeading(dist: Double, heading: Double): RestrictedPathBuilder

forwardSplineHeading

fun forwardSplineHeading(dist: Double, heading: Rotation2d): SafePathBuilder

fun forwardSplineHeading(dist: Double, heading: Double): SafePathBuilder

fun lineToX(posX: Double): TangentPathBuilder

lineToXConstantHeading

fun lineToXConstantHeading(posX: Double): ConstantPathBuilder

lineToXLinearHeading

fun lineToXLinearHeading(posX: Double, heading: Rotation2d): RestrictedPathBuilder

fun lineToXLinearHeading(posX: Double, heading: Double): RestrictedPathBuilder

lineToXSplineHeading

fun lineToXSplineHeading(posX: Double, heading: Rotation2d): SafePathBuilder

fun lineToXSplineHeading(posX: Double, heading: Double): SafePathBuilder

fun lineToY(posY: Double): TangentPathBuilder

lineToYConstantHeading

fun lineToYConstantHeading(posY: Double): ConstantPathBuilder

lineToYLinearHeading

fun lineToYLinearHeading(posY: Double, heading: Rotation2d): RestrictedPathBuilder

fun lineToYLinearHeading(posY: Double, heading: Double): RestrictedPathBuilder

lineToYSplineHeading

fun lineToYSplineHeading(posY: Double, heading: Rotation2d): SafePathBuilder

fun lineToYSplineHeading(posY: Double, heading: Double): SafePathBuilder

fun splineTo(pos: Vector2d, tangent: Rotation2d): TangentPathBuilder

fun splineTo(pos: Vector2d, tangent: Double): TangentPathBuilder

splineToConstantHeading

fun splineToConstantHeading(pos: Vector2d, tangent: Rotation2d): ConstantPathBuilder

fun splineToConstantHeading(pos: Vector2d, tangent: Double): ConstantPathBuilder

splineToLinearHeading

fun splineToLinearHeading(pose: Pose2d, tangent: Rotation2d): RestrictedPathBuilder

fun splineToLinearHeading(pose: Pose2d, tangent: Double): RestrictedPathBuilder

splineToSplineHeading

fun splineToSplineHeading(pose: Pose2d, tangent: Rotation2d): SafePathBuilder

fun splineToSplineHeading(pose: Pose2d, tangent: Double): SafePathBuilder