Package com.acmerobotics.roadrunner

Types

AccelConstraint

fun interface AccelConstraint

AngularVelConstraint

class AngularVelConstraint(val maxAngVel: Double) : VelConstraint

Arclength

class Arclength

Arclength parameter for DualNum.

ArclengthReparamCurve2

data class ArclengthReparamCurve2(val curve: PositionPath<Internal>, val samples: IntegralScanResult) : PositionPath<Arclength>

Arclength reparameterization of curve.

CancelableProfile

class CancelableProfile( val baseProfile: DisplacementProfile, val disps: List<Double>, val minAccels: List<Double>)

CompositeAccelConstraint

class CompositeAccelConstraint(val constraints: List<AccelConstraint>, val partitions: List<Double>) : AccelConstraint

CompositePosePath

data class CompositePosePath(val paths: List<PosePath>, val offsets: List<Double> = paths.scan(0.0) { acc, path -> acc + path.length() }) : PosePath

CompositePositionPath

data class CompositePositionPath<Param> @JvmOverloads constructor(val paths: List<PositionPath<Param>>, val offsets: List<Double> = paths.scan(0.0) { acc, path -> acc + path.length() }) : PositionPath<Param>

CompositeVelConstraint

class CompositeVelConstraint(val constraints: List<VelConstraint>, val partitions: List<Double>) : VelConstraint

ConstantHeadingPath

data class ConstantHeadingPath(val heading: Rotation2d, val length: Double) : HeadingPath

ConstantPathBuilder

class ConstantPathBuilder

ConstantTrajectoryBuilder

class ConstantTrajectoryBuilder

DisplacementProfile

data class DisplacementProfile( val disps: List<Double>, val vels: List<Double>, val accels: List<Double>)

Motion profile parameterized by displacement.

DisplacementTrajectory

class DisplacementTrajectory(val path: PosePath, val profile: DisplacementProfile)

DualNum

class DualNum<Param>

HeadingPath

interface HeadingPath

HeadingPosePath

data class HeadingPosePath(val posPath: PositionPath<Arclength>, val headingPath: HeadingPath) : PosePath

HolonomicController

class HolonomicController( val axialPosGain: Double, val lateralPosGain: Double, val headingGain: Double, val axialVelGain: Double, val lateralVelGain: Double, val headingVelGain: Double)

Proportional position-velocity controller for a holonomic robot.

IntegralScanResult

data class IntegralScanResult(val values: List<Double>, val sums: List<Double>)

Internal

class Internal

Generic, internal parameter for DualNum.

Line

data class Line( val begin: Vector2d, val dir: Vector2d, val length: Double) : PositionPath<Arclength>

Line beginning at position begin, pointed in direction dir, and having length length.

LinearHeadingPath

data class LinearHeadingPath( val begin: Rotation2d, val angle: Double, val length: Double) : HeadingPath

MecanumKinematics

data class MecanumKinematics @JvmOverloads constructor(val trackWidth: Double, val lateralMultiplier: Double = 1.0)

MinMax

data class MinMax(val min: Double, val max: Double)

MinVelConstraint

class MinVelConstraint(val constraints: List<VelConstraint>) : VelConstraint

MotorFeedforward

data class MotorFeedforward( val kS: Double, val kV: Double, val kA: Double)

PathBuilder

class PathBuilder

Pose2d

data class Pose2d(val trans: Vector2d, val rot: Rotation2d)

Pose2dDual

data class Pose2dDual<Param>(val trans: Vector2dDual<Param>, val rot: Rotation2dDual<Param>)

Dual version of Pose2d.

PosePath

interface PosePath

PosePathSeqBuilder

class PosePathSeqBuilder

PositionPath

interface PositionPath<Param>

PositionPathView

data class PositionPathView<Param>( val path: PositionPath<Param>, val offset: Double, val length: Double) : PositionPath<Param>

PosPathSeqBuilder

class PosPathSeqBuilder

ProfileAccelConstraint

class ProfileAccelConstraint(val minAccel: Double, val maxAccel: Double) : AccelConstraint

QuinticSpline1

data class QuinticSpline1( val a: Double, val b: Double, val c: Double, val d: Double, val e: Double, val f: Double)

QuinticSpline2

data class QuinticSpline2(val x: QuinticSpline1, val y: QuinticSpline1) : PositionPath<Internal>

Path comprised of two QuinticSpline1s.

RamseteController

class RamseteController @JvmOverloads constructor( val trackWidth: Double, val zeta: Double = 0.7, val bBar: Double = 2.0)

RestrictedPathBuilder

class RestrictedPathBuilder

RestrictedPosePathBuilder

class RestrictedPosePathBuilder

Do not instantiate directly. See SafePosePathBuilder.

RestrictedTrajectoryBuilder

class RestrictedTrajectoryBuilder

Rotation2d

data class Rotation2d(val real: Double, val imag: Double)

Rotation2dDual

data class Rotation2dDual<Param>(val real: DualNum<Param>, val imag: DualNum<Param>)

Dual version of Rotation2d.

SafePathBuilder

class SafePathBuilder

SafePosePathBuilder

class SafePosePathBuilder

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

SafeTrajectoryBuilder

class SafeTrajectoryBuilder

SplineHeadingPath

data class SplineHeadingPath( val begin: Rotation2d, val spline: QuinticSpline1, val length: Double) : HeadingPath

TangentPath

data class TangentPath(val path: PositionPath<Arclength>, val offset: Double) : PosePath

TangentPathBuilder

class TangentPathBuilder

TangentTrajectoryBuilder

class TangentTrajectoryBuilder

TankKinematics

data class TankKinematics(val trackWidth: Double)

Time

class Time

Time parameter for DualNum.

TimeProfile

data class TimeProfile @JvmOverloads constructor(val dispProfile: DisplacementProfile, val times: List<Double> = timeScan(dispProfile))

Motion profile parameterized by time.

TimeTrajectory

class TimeTrajectory(val path: PosePath, val profile: TimeProfile)

Trajectory

class Trajectory( val path: PosePath, val profile: CancelableProfile, val offsets: List<Double>)

TrajectoryBuilder

class TrajectoryBuilder

TranslationalVelConstraint

class TranslationalVelConstraint(val minTransVel: Double) : VelConstraint

Twist2d

data class Twist2d(val transVel: Vector2d, val rotVel: Double)

2D twist (velocities)

Twist2dDual

data class Twist2dDual<Param>(val transVel: Vector2dDual<Param>, val rotVel: DualNum<Param>)

Dual version of Twist2d.

Twist2dIncr

data class Twist2dIncr(val transIncr: Vector2d, val rotIncr: Double)

Twist2dIncrDual

data class Twist2dIncrDual<Param>(val transIncr: Vector2dDual<Param>, val rotIncr: DualNum<Param>)

Vector2d

data class Vector2d(val x: Double, val y: Double)

Vector2dDual

data class Vector2dDual<Param>(val x: DualNum<Param>, val y: DualNum<Param>)

Dual version of Vector2d.

VelConstraint

fun interface VelConstraint

Functions

backwardProfile

fun backwardProfile( disps: List<Double>, maxVels: List<Double>, endVel: Double, minAccels: List<Double>): DisplacementProfile

Computes an approximately time-optimal backward profile from the center-sampled constraints. No restriction is imposed on the maximum acceleration.

fun backwardProfile( path: PosePath, velConstraint: VelConstraint, endVel: Double, accelConstraint: AccelConstraint, resolution: Double): DisplacementProfile

fun backwardProfile( length: Double, maxVel: (Double) -> Double, endVel: Double, minAccel: (Double) -> Double, resolution: Double): DisplacementProfile

Computes an approximately time-optimal backward profile by sampling the constraints according to the resolution resolution. No restriction is imposed on the minimum acceleration.

clamp

fun clamp( x: Double, lo: Double, hi: Double): Double

constantProfile

fun constantProfile( length: Double, beginEndVel: Double, maxVel: Double, minAccel: Double, maxAccel: Double): CancelableProfile

Computes an exact, time-optimal profile.

forwardProfile

fun forwardProfile( disps: List<Double>, beginVel: Double, maxVels: List<Double>, maxAccels: List<Double>): DisplacementProfile

Computes an approximately time-optimal forward profile from the center-sampled constraints. No restriction is imposed on the minimum acceleration.

fun forwardProfile( path: PosePath, beginVel: Double, velConstraint: VelConstraint, accelConstraint: AccelConstraint, resolution: Double): DisplacementProfile

fun forwardProfile( length: Double, beginVel: Double, maxVel: (Double) -> Double, maxAccel: (Double) -> Double, resolution: Double): DisplacementProfile

Computes an approximately time-optimal forward profile by sampling the constraints according to the resolution resolution. No restriction is imposed on the minimum acceleration.

integralScan

fun integralScan( a: Double, b: Double, eps: Double, f: (Double) -> Double): IntegralScanResult

lerp

fun lerp( x: Double, fromLo: Double, fromHi: Double, toLo: Double, toHi: Double): Double

merge

fun merge(p1: DisplacementProfile, p2: DisplacementProfile): DisplacementProfile

Merges p1 and p2 into another profile with the minimum velocity of the two at every point.

profile

fun profile( path: PosePath, beginEndVel: Double, velConstraint: VelConstraint, accelConstraint: AccelConstraint, resolution: Double): CancelableProfile

fun profile( disps: List<Double>, beginEndVel: Double, maxVels: List<Double>, minAccels: List<Double>, maxAccels: List<Double>): CancelableProfile

Computes an approximately time-optimal profile from center-sampled constraints.

fun profile( length: Double, beginEndVel: Double, maxVel: (Double) -> Double, minAccel: (Double) -> Double, maxAccel: (Double) -> Double, resolution: Double): CancelableProfile

Computes an approximately time-optimal profile by sampling the constraints according to the resolution resolution.

project

fun project( path: PosePath, query: Vector2d, init: Double): Double

fun project( path: PositionPath<Arclength>, query: Vector2d, init: Double): Double

Project position query onto position path path starting with initial guess init.

range

fun range( begin: Double, end: Double, samples: Int): List<Double>

rangeMiddle

fun rangeMiddle( begin: Double, end: Double, samples: Int): List<Double>

snz

fun snz(x: Double): Double