core/com.acmerobotics.roadrunner/SafePosePathBuilder

SafePosePathBuilder

class SafePosePathBuilder

Wrapper for PosePathBuilder that provides the same guarantees without throwing PosePathBuilder.RotationContinuityException.

For method-by-method documentation, see the identical methods on PosePathBuilder.

Constructors

SafePosePathBuilder

fun SafePosePathBuilder(path: PositionPath<Arclength>, beginHeading: Rotation2d)

SafePosePathBuilder

fun SafePosePathBuilder(path: PositionPath<Arclength>, beginHeading: Double)

Functions

fun constantUntil(disp: Double): RestrictedPosePathBuilder

constantUntilEnd

fun constantUntilEnd(): CompositePosePath

fun linearUntil(disp: Double, heading: Rotation2d): RestrictedPosePathBuilder

fun linearUntil(disp: Double, heading: Double): RestrictedPosePathBuilder

fun linearUntilEnd(heading: Rotation2d): CompositePosePath

fun linearUntilEnd(heading: Double): CompositePosePath

fun splineUntil(disp: Double, heading: Rotation2d): SafePosePathBuilder

fun splineUntil(disp: Double, heading: Double): SafePosePathBuilder

fun splineUntilEnd(heading: Rotation2d): CompositePosePath

fun splineUntilEnd(heading: Double): CompositePosePath

fun tangentUntil(disp: Double): RestrictedPosePathBuilder

tangentUntilEnd

fun tangentUntilEnd(): CompositePosePath