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- All Implemented Interfaces:
public final class TrajectoryBuilder
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Nested Class Summary
Nested Classes Modifier and Type Class Description public interface
TrajectoryBuilder.PoseMap
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Constructor Summary
Constructors Constructor Description TrajectoryBuilder(Pose2d beginPose, Double eps, Double beginEndVel, VelConstraint baseVelConstraint, AccelConstraint baseAccelConstraint, Double resolution, TrajectoryBuilder.PoseMap poseMap)
TrajectoryBuilder(Pose2d beginPose, Double eps, Double beginEndVel, VelConstraint baseVelConstraint, AccelConstraint baseAccelConstraint, Double resolution)
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Method Summary
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Constructor Detail
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TrajectoryBuilder
TrajectoryBuilder(Pose2d beginPose, Double eps, Double beginEndVel, VelConstraint baseVelConstraint, AccelConstraint baseAccelConstraint, Double resolution, TrajectoryBuilder.PoseMap poseMap)
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TrajectoryBuilder
TrajectoryBuilder(Pose2d beginPose, Double eps, Double beginEndVel, VelConstraint baseVelConstraint, AccelConstraint baseAccelConstraint, Double resolution)
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Method Detail
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setTangent
final TrajectoryBuilder setTangent(Rotation2d r)
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setTangent
final TrajectoryBuilder setTangent(Double r)
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setReversed
final TrajectoryBuilder setReversed(Boolean reversed)
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lineToX
@JvmOverloads() final TrajectoryBuilder lineToX(Double posX, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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lineToX
@JvmOverloads() final TrajectoryBuilder lineToX(Double posX, VelConstraint velConstraintOverride)
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lineToX
@JvmOverloads() final TrajectoryBuilder lineToX(Double posX)
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lineToXConstantHeading
@JvmOverloads() final TrajectoryBuilder lineToXConstantHeading(Double posX, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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lineToXConstantHeading
@JvmOverloads() final TrajectoryBuilder lineToXConstantHeading(Double posX, VelConstraint velConstraintOverride)
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lineToXConstantHeading
@JvmOverloads() final TrajectoryBuilder lineToXConstantHeading(Double posX)
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lineToXLinearHeading
@JvmOverloads() final TrajectoryBuilder lineToXLinearHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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lineToXLinearHeading
@JvmOverloads() final TrajectoryBuilder lineToXLinearHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride)
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lineToXLinearHeading
@JvmOverloads() final TrajectoryBuilder lineToXLinearHeading(Double posX, Rotation2d heading)
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lineToXLinearHeading
@JvmOverloads() final TrajectoryBuilder lineToXLinearHeading(Double posX, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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lineToXLinearHeading
@JvmOverloads() final TrajectoryBuilder lineToXLinearHeading(Double posX, Double heading, VelConstraint velConstraintOverride)
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lineToXLinearHeading
@JvmOverloads() final TrajectoryBuilder lineToXLinearHeading(Double posX, Double heading)
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lineToXSplineHeading
@JvmOverloads() final TrajectoryBuilder lineToXSplineHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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lineToXSplineHeading
@JvmOverloads() final TrajectoryBuilder lineToXSplineHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride)
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lineToXSplineHeading
@JvmOverloads() final TrajectoryBuilder lineToXSplineHeading(Double posX, Rotation2d heading)
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lineToXSplineHeading
@JvmOverloads() final TrajectoryBuilder lineToXSplineHeading(Double posX, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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lineToXSplineHeading
@JvmOverloads() final TrajectoryBuilder lineToXSplineHeading(Double posX, Double heading, VelConstraint velConstraintOverride)
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lineToXSplineHeading
@JvmOverloads() final TrajectoryBuilder lineToXSplineHeading(Double posX, Double heading)
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lineToY
@JvmOverloads() final TrajectoryBuilder lineToY(Double posY, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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lineToY
@JvmOverloads() final TrajectoryBuilder lineToY(Double posY, VelConstraint velConstraintOverride)
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lineToY
@JvmOverloads() final TrajectoryBuilder lineToY(Double posY)
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lineToYConstantHeading
@JvmOverloads() final TrajectoryBuilder lineToYConstantHeading(Double posY, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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lineToYConstantHeading
@JvmOverloads() final TrajectoryBuilder lineToYConstantHeading(Double posY, VelConstraint velConstraintOverride)
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lineToYConstantHeading
@JvmOverloads() final TrajectoryBuilder lineToYConstantHeading(Double posY)
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lineToYLinearHeading
@JvmOverloads() final TrajectoryBuilder lineToYLinearHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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lineToYLinearHeading
@JvmOverloads() final TrajectoryBuilder lineToYLinearHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride)
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lineToYLinearHeading
@JvmOverloads() final TrajectoryBuilder lineToYLinearHeading(Double posY, Rotation2d heading)
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lineToYLinearHeading
@JvmOverloads() final TrajectoryBuilder lineToYLinearHeading(Double posY, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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lineToYLinearHeading
@JvmOverloads() final TrajectoryBuilder lineToYLinearHeading(Double posY, Double heading, VelConstraint velConstraintOverride)
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lineToYLinearHeading
@JvmOverloads() final TrajectoryBuilder lineToYLinearHeading(Double posY, Double heading)
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lineToYSplineHeading
@JvmOverloads() final TrajectoryBuilder lineToYSplineHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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lineToYSplineHeading
@JvmOverloads() final TrajectoryBuilder lineToYSplineHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride)
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lineToYSplineHeading
@JvmOverloads() final TrajectoryBuilder lineToYSplineHeading(Double posY, Rotation2d heading)
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lineToYSplineHeading
@JvmOverloads() final TrajectoryBuilder lineToYSplineHeading(Double posY, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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lineToYSplineHeading
@JvmOverloads() final TrajectoryBuilder lineToYSplineHeading(Double posY, Double heading, VelConstraint velConstraintOverride)
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lineToYSplineHeading
@JvmOverloads() final TrajectoryBuilder lineToYSplineHeading(Double posY, Double heading)
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splineTo
@JvmOverloads() final TrajectoryBuilder splineTo(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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splineTo
@JvmOverloads() final TrajectoryBuilder splineTo(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride)
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splineTo
@JvmOverloads() final TrajectoryBuilder splineTo(Vector2d pos, Rotation2d tangent)
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splineTo
@JvmOverloads() final TrajectoryBuilder splineTo(Vector2d pos, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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splineTo
@JvmOverloads() final TrajectoryBuilder splineTo(Vector2d pos, Double tangent, VelConstraint velConstraintOverride)
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splineTo
@JvmOverloads() final TrajectoryBuilder splineTo(Vector2d pos, Double tangent)
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splineToConstantHeading
@JvmOverloads() final TrajectoryBuilder splineToConstantHeading(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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splineToConstantHeading
@JvmOverloads() final TrajectoryBuilder splineToConstantHeading(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride)
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splineToConstantHeading
@JvmOverloads() final TrajectoryBuilder splineToConstantHeading(Vector2d pos, Rotation2d tangent)
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splineToConstantHeading
@JvmOverloads() final TrajectoryBuilder splineToConstantHeading(Vector2d pos, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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splineToConstantHeading
@JvmOverloads() final TrajectoryBuilder splineToConstantHeading(Vector2d pos, Double tangent, VelConstraint velConstraintOverride)
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splineToConstantHeading
@JvmOverloads() final TrajectoryBuilder splineToConstantHeading(Vector2d pos, Double tangent)
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splineToLinearHeading
@JvmOverloads() final TrajectoryBuilder splineToLinearHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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splineToLinearHeading
@JvmOverloads() final TrajectoryBuilder splineToLinearHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride)
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splineToLinearHeading
@JvmOverloads() final TrajectoryBuilder splineToLinearHeading(Pose2d pose, Rotation2d tangent)
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splineToLinearHeading
@JvmOverloads() final TrajectoryBuilder splineToLinearHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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splineToLinearHeading
@JvmOverloads() final TrajectoryBuilder splineToLinearHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride)
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splineToLinearHeading
@JvmOverloads() final TrajectoryBuilder splineToLinearHeading(Pose2d pose, Double tangent)
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splineToSplineHeading
@JvmOverloads() final TrajectoryBuilder splineToSplineHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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splineToSplineHeading
@JvmOverloads() final TrajectoryBuilder splineToSplineHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride)
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splineToSplineHeading
@JvmOverloads() final TrajectoryBuilder splineToSplineHeading(Pose2d pose, Rotation2d tangent)
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splineToSplineHeading
@JvmOverloads() final TrajectoryBuilder splineToSplineHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
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splineToSplineHeading
@JvmOverloads() final TrajectoryBuilder splineToSplineHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride)
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splineToSplineHeading
@JvmOverloads() final TrajectoryBuilder splineToSplineHeading(Pose2d pose, Double tangent)
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build
final List<Trajectory> build()
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