core/com.acmerobotics.roadrunner/SafeTrajectoryBuilder

SafeTrajectoryBuilder

class SafeTrajectoryBuilder
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Constructors

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@JvmOverloads
fun SafeTrajectoryBuilder(    beginPose: Pose2d,     beginTangent: Rotation2d,     eps: Double,     beginEndVel: Double,     baseVelConstraint: VelConstraint,     baseAccelConstraint: AccelConstraint,     resolution: Double,     poseMap: TrajectoryBuilder.PoseMap = TrajectoryBuilder.PoseMap { it })
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Functions

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fun build(): Trajectory
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@JvmOverloads
fun forward(    dist: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): TangentTrajectoryBuilder
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@JvmOverloads
fun forwardConstantHeading(    dist: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): ConstantTrajectoryBuilder
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@JvmOverloads
fun forwardLinearHeading(    dist: Double,     heading: Rotation2d,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
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@JvmOverloads
fun forwardLinearHeading(    dist: Double,     heading: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
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@JvmOverloads
fun forwardSplineHeading(    dist: Double,     heading: Rotation2d,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
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@JvmOverloads
fun forwardSplineHeading(    dist: Double,     heading: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
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@JvmOverloads
fun lineToX(    posX: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): TangentTrajectoryBuilder
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@JvmOverloads
fun lineToXConstantHeading(    posX: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): ConstantTrajectoryBuilder
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@JvmOverloads
fun lineToXLinearHeading(    posX: Double,     heading: Rotation2d,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
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@JvmOverloads
fun lineToXLinearHeading(    posX: Double,     heading: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
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@JvmOverloads
fun lineToXSplineHeading(    posX: Double,     heading: Rotation2d,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
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@JvmOverloads
fun lineToXSplineHeading(    posX: Double,     heading: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
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@JvmOverloads
fun lineToY(    posY: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): TangentTrajectoryBuilder
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@JvmOverloads
fun lineToYConstantHeading(    posY: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): ConstantTrajectoryBuilder
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@JvmOverloads
fun lineToYLinearHeading(    posY: Double,     heading: Rotation2d,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
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@JvmOverloads
fun lineToYLinearHeading(    posY: Double,     heading: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
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@JvmOverloads
fun lineToYSplineHeading(    posY: Double,     heading: Rotation2d,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
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@JvmOverloads
fun lineToYSplineHeading(    posY: Double,     heading: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
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@JvmOverloads
fun splineTo(    pos: Vector2d,     tangent: Rotation2d,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): TangentTrajectoryBuilder
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@JvmOverloads
fun splineTo(    pos: Vector2d,     tangent: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): TangentTrajectoryBuilder
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@JvmOverloads
fun splineToConstantHeading(    pos: Vector2d,     tangent: Rotation2d,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): ConstantTrajectoryBuilder
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@JvmOverloads
fun splineToConstantHeading(    pos: Vector2d,     tangent: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): ConstantTrajectoryBuilder
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@JvmOverloads
fun splineToLinearHeading(    pose: Pose2d,     tangent: Rotation2d,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
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@JvmOverloads
fun splineToLinearHeading(    pose: Pose2d,     tangent: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
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@JvmOverloads
fun splineToSplineHeading(    pose: Pose2d,     tangent: Rotation2d,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
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@JvmOverloads
fun splineToSplineHeading(    pose: Pose2d,     tangent: Double,     velConstraintOverride: VelConstraint? = null,     accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
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