Package com.acmerobotics.roadrunner
Class TrajectoryActionBuilder
-
- All Implemented Interfaces:
public final class TrajectoryActionBuilder
Builder that combines trajectories, turns, and other actions.
-
-
Field Summary
Fields Modifier and Type Field Description private final TurnActionFactory
turnActionFactory
private final TrajectoryActionFactory
trajectoryActionFactory
private final Double
eps
private final Double
beginEndVel
private final TurnConstraints
baseTurnConstraints
private final VelConstraint
baseVelConstraint
private final AccelConstraint
baseAccelConstraint
private final Double
dispResolution
private final Double
angResolution
private final PoseMap
poseMap
-
Constructor Summary
Constructors Constructor Description TrajectoryActionBuilder(TurnActionFactory turnActionFactory, TrajectoryActionFactory trajectoryActionFactory, Pose2d beginPose, Double eps, Double beginEndVel, TurnConstraints baseTurnConstraints, VelConstraint baseVelConstraint, AccelConstraint baseAccelConstraint, Double dispResolution, Double angResolution, PoseMap poseMap)
TrajectoryActionBuilder(TurnActionFactory turnActionFactory, TrajectoryActionFactory trajectoryActionFactory, Pose2d beginPose, Double eps, Double beginEndVel, TurnConstraints baseTurnConstraints, VelConstraint baseVelConstraint, AccelConstraint baseAccelConstraint, Double dispResolution, Double angResolution)
-
Method Summary
Modifier and Type Method Description final TurnActionFactory
getTurnActionFactory()
final TrajectoryActionFactory
getTrajectoryActionFactory()
final Double
getEps()
final Double
getBeginEndVel()
final TurnConstraints
getBaseTurnConstraints()
final VelConstraint
getBaseVelConstraint()
final AccelConstraint
getBaseAccelConstraint()
final Double
getDispResolution()
final Double
getAngResolution()
final PoseMap
getPoseMap()
final TrajectoryActionBuilder
endTrajectory()
Ends the current trajectory in progress. final TrajectoryActionBuilder
stopAndAdd(Action a)
Stops the current trajectory (like endTrajectory) and adds action a next. final TrajectoryActionBuilder
waitSeconds(Double t)
Waits t seconds. final TrajectoryActionBuilder
afterDisp(Double ds, Action a)
Schedules action a to execute in parallel starting at a displacement ds after the last trajectory segment. final TrajectoryActionBuilder
afterTime(Double dt, Action a)
Schedules action a to execute in parallel starting dt seconds after the last trajectory segment, turn, or other action. final TrajectoryActionBuilder
setTangent(Rotation2d r)
final TrajectoryActionBuilder
setTangent(Double r)
final TrajectoryActionBuilder
setReversed(Boolean reversed)
final TrajectoryActionBuilder
turn(Double angle, TurnConstraints turnConstraintsOverride)
final TrajectoryActionBuilder
turn(Double angle)
final TrajectoryActionBuilder
turnTo(Rotation2d heading, TurnConstraints turnConstraintsOverride)
final TrajectoryActionBuilder
turnTo(Rotation2d heading)
final TrajectoryActionBuilder
turnTo(Double heading, TurnConstraints turnConstraintsOverride)
final TrajectoryActionBuilder
turnTo(Double heading)
final TrajectoryActionBuilder
lineToX(Double posX, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
lineToX(Double posX, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
lineToX(Double posX)
final TrajectoryActionBuilder
lineToXConstantHeading(Double posX, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
lineToXConstantHeading(Double posX, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
lineToXConstantHeading(Double posX)
final TrajectoryActionBuilder
lineToXLinearHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
lineToXLinearHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
lineToXLinearHeading(Double posX, Rotation2d heading)
final TrajectoryActionBuilder
lineToXLinearHeading(Double posX, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
lineToXLinearHeading(Double posX, Double heading, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
lineToXLinearHeading(Double posX, Double heading)
final TrajectoryActionBuilder
lineToXSplineHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
lineToXSplineHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
lineToXSplineHeading(Double posX, Rotation2d heading)
final TrajectoryActionBuilder
lineToXSplineHeading(Double posX, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
lineToXSplineHeading(Double posX, Double heading, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
lineToXSplineHeading(Double posX, Double heading)
final TrajectoryActionBuilder
lineToY(Double posY, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
lineToY(Double posY, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
lineToY(Double posY)
final TrajectoryActionBuilder
lineToYConstantHeading(Double posY, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
lineToYConstantHeading(Double posY, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
lineToYConstantHeading(Double posY)
final TrajectoryActionBuilder
lineToYLinearHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
lineToYLinearHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
lineToYLinearHeading(Double posY, Rotation2d heading)
final TrajectoryActionBuilder
lineToYLinearHeading(Double posY, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
lineToYLinearHeading(Double posY, Double heading, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
lineToYLinearHeading(Double posY, Double heading)
final TrajectoryActionBuilder
lineToYSplineHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
lineToYSplineHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
lineToYSplineHeading(Double posY, Rotation2d heading)
final TrajectoryActionBuilder
lineToYSplineHeading(Double posY, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
lineToYSplineHeading(Double posY, Double heading, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
lineToYSplineHeading(Double posY, Double heading)
final TrajectoryActionBuilder
strafeTo(Vector2d pos, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
strafeTo(Vector2d pos, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
strafeTo(Vector2d pos)
final TrajectoryActionBuilder
strafeToConstantHeading(Vector2d pos, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
strafeToConstantHeading(Vector2d pos, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
strafeToConstantHeading(Vector2d pos)
final TrajectoryActionBuilder
strafeToLinearHeading(Vector2d pos, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
strafeToLinearHeading(Vector2d pos, Rotation2d heading, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
strafeToLinearHeading(Vector2d pos, Rotation2d heading)
final TrajectoryActionBuilder
strafeToLinearHeading(Vector2d pos, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
strafeToLinearHeading(Vector2d pos, Double heading, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
strafeToLinearHeading(Vector2d pos, Double heading)
final TrajectoryActionBuilder
strafeToSplineHeading(Vector2d pos, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
strafeToSplineHeading(Vector2d pos, Rotation2d heading, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
strafeToSplineHeading(Vector2d pos, Rotation2d heading)
final TrajectoryActionBuilder
strafeToSplineHeading(Vector2d pos, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
strafeToSplineHeading(Vector2d pos, Double heading, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
strafeToSplineHeading(Vector2d pos, Double heading)
final TrajectoryActionBuilder
splineTo(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
splineTo(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
splineTo(Vector2d pos, Rotation2d tangent)
final TrajectoryActionBuilder
splineTo(Vector2d pos, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
splineTo(Vector2d pos, Double tangent, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
splineTo(Vector2d pos, Double tangent)
final TrajectoryActionBuilder
splineToConstantHeading(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
splineToConstantHeading(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
splineToConstantHeading(Vector2d pos, Rotation2d tangent)
final TrajectoryActionBuilder
splineToConstantHeading(Vector2d pos, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
splineToConstantHeading(Vector2d pos, Double tangent, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
splineToConstantHeading(Vector2d pos, Double tangent)
final TrajectoryActionBuilder
splineToLinearHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
splineToLinearHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
splineToLinearHeading(Pose2d pose, Rotation2d tangent)
final TrajectoryActionBuilder
splineToLinearHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
splineToLinearHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
splineToLinearHeading(Pose2d pose, Double tangent)
final TrajectoryActionBuilder
splineToSplineHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
splineToSplineHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
splineToSplineHeading(Pose2d pose, Rotation2d tangent)
final TrajectoryActionBuilder
splineToSplineHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
final TrajectoryActionBuilder
splineToSplineHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride)
final TrajectoryActionBuilder
splineToSplineHeading(Pose2d pose, Double tangent)
final Action
build()
-
-
Constructor Detail
-
TrajectoryActionBuilder
TrajectoryActionBuilder(TurnActionFactory turnActionFactory, TrajectoryActionFactory trajectoryActionFactory, Pose2d beginPose, Double eps, Double beginEndVel, TurnConstraints baseTurnConstraints, VelConstraint baseVelConstraint, AccelConstraint baseAccelConstraint, Double dispResolution, Double angResolution, PoseMap poseMap)
-
TrajectoryActionBuilder
TrajectoryActionBuilder(TurnActionFactory turnActionFactory, TrajectoryActionFactory trajectoryActionFactory, Pose2d beginPose, Double eps, Double beginEndVel, TurnConstraints baseTurnConstraints, VelConstraint baseVelConstraint, AccelConstraint baseAccelConstraint, Double dispResolution, Double angResolution)
-
-
Method Detail
-
getTurnActionFactory
final TurnActionFactory getTurnActionFactory()
-
getTrajectoryActionFactory
final TrajectoryActionFactory getTrajectoryActionFactory()
-
getBeginEndVel
final Double getBeginEndVel()
-
getBaseTurnConstraints
final TurnConstraints getBaseTurnConstraints()
-
getBaseVelConstraint
final VelConstraint getBaseVelConstraint()
-
getBaseAccelConstraint
final AccelConstraint getBaseAccelConstraint()
-
getDispResolution
final Double getDispResolution()
-
getAngResolution
final Double getAngResolution()
-
getPoseMap
final PoseMap getPoseMap()
-
endTrajectory
final TrajectoryActionBuilder endTrajectory()
Ends the current trajectory in progress. No-op if no trajectory segments are pending.
-
stopAndAdd
final TrajectoryActionBuilder stopAndAdd(Action a)
Stops the current trajectory (like endTrajectory) and adds action a next.
-
waitSeconds
final TrajectoryActionBuilder waitSeconds(Double t)
Waits t seconds.
-
afterDisp
final TrajectoryActionBuilder afterDisp(Double ds, Action a)
Schedules action a to execute in parallel starting at a displacement ds after the last trajectory segment. The action start is clamped to the span of the current trajectory.
Cannot be called without an applicable pending trajectory.
-
afterTime
final TrajectoryActionBuilder afterTime(Double dt, Action a)
Schedules action a to execute in parallel starting dt seconds after the last trajectory segment, turn, or other action.
-
setTangent
final TrajectoryActionBuilder setTangent(Rotation2d r)
-
setTangent
final TrajectoryActionBuilder setTangent(Double r)
-
setReversed
final TrajectoryActionBuilder setReversed(Boolean reversed)
-
turn
final TrajectoryActionBuilder turn(Double angle, TurnConstraints turnConstraintsOverride)
-
turn
final TrajectoryActionBuilder turn(Double angle)
-
turnTo
final TrajectoryActionBuilder turnTo(Rotation2d heading, TurnConstraints turnConstraintsOverride)
-
turnTo
final TrajectoryActionBuilder turnTo(Rotation2d heading)
-
turnTo
final TrajectoryActionBuilder turnTo(Double heading, TurnConstraints turnConstraintsOverride)
-
turnTo
final TrajectoryActionBuilder turnTo(Double heading)
-
lineToX
final TrajectoryActionBuilder lineToX(Double posX, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
lineToX
final TrajectoryActionBuilder lineToX(Double posX, VelConstraint velConstraintOverride)
-
lineToX
final TrajectoryActionBuilder lineToX(Double posX)
-
lineToXConstantHeading
final TrajectoryActionBuilder lineToXConstantHeading(Double posX, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
lineToXConstantHeading
final TrajectoryActionBuilder lineToXConstantHeading(Double posX, VelConstraint velConstraintOverride)
-
lineToXConstantHeading
final TrajectoryActionBuilder lineToXConstantHeading(Double posX)
-
lineToXLinearHeading
final TrajectoryActionBuilder lineToXLinearHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
lineToXLinearHeading
final TrajectoryActionBuilder lineToXLinearHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride)
-
lineToXLinearHeading
final TrajectoryActionBuilder lineToXLinearHeading(Double posX, Rotation2d heading)
-
lineToXLinearHeading
final TrajectoryActionBuilder lineToXLinearHeading(Double posX, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
lineToXLinearHeading
final TrajectoryActionBuilder lineToXLinearHeading(Double posX, Double heading, VelConstraint velConstraintOverride)
-
lineToXLinearHeading
final TrajectoryActionBuilder lineToXLinearHeading(Double posX, Double heading)
-
lineToXSplineHeading
final TrajectoryActionBuilder lineToXSplineHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
lineToXSplineHeading
final TrajectoryActionBuilder lineToXSplineHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride)
-
lineToXSplineHeading
final TrajectoryActionBuilder lineToXSplineHeading(Double posX, Rotation2d heading)
-
lineToXSplineHeading
final TrajectoryActionBuilder lineToXSplineHeading(Double posX, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
lineToXSplineHeading
final TrajectoryActionBuilder lineToXSplineHeading(Double posX, Double heading, VelConstraint velConstraintOverride)
-
lineToXSplineHeading
final TrajectoryActionBuilder lineToXSplineHeading(Double posX, Double heading)
-
lineToY
final TrajectoryActionBuilder lineToY(Double posY, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
lineToY
final TrajectoryActionBuilder lineToY(Double posY, VelConstraint velConstraintOverride)
-
lineToY
final TrajectoryActionBuilder lineToY(Double posY)
-
lineToYConstantHeading
final TrajectoryActionBuilder lineToYConstantHeading(Double posY, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
lineToYConstantHeading
final TrajectoryActionBuilder lineToYConstantHeading(Double posY, VelConstraint velConstraintOverride)
-
lineToYConstantHeading
final TrajectoryActionBuilder lineToYConstantHeading(Double posY)
-
lineToYLinearHeading
final TrajectoryActionBuilder lineToYLinearHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
lineToYLinearHeading
final TrajectoryActionBuilder lineToYLinearHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride)
-
lineToYLinearHeading
final TrajectoryActionBuilder lineToYLinearHeading(Double posY, Rotation2d heading)
-
lineToYLinearHeading
final TrajectoryActionBuilder lineToYLinearHeading(Double posY, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
lineToYLinearHeading
final TrajectoryActionBuilder lineToYLinearHeading(Double posY, Double heading, VelConstraint velConstraintOverride)
-
lineToYLinearHeading
final TrajectoryActionBuilder lineToYLinearHeading(Double posY, Double heading)
-
lineToYSplineHeading
final TrajectoryActionBuilder lineToYSplineHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
lineToYSplineHeading
final TrajectoryActionBuilder lineToYSplineHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride)
-
lineToYSplineHeading
final TrajectoryActionBuilder lineToYSplineHeading(Double posY, Rotation2d heading)
-
lineToYSplineHeading
final TrajectoryActionBuilder lineToYSplineHeading(Double posY, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
lineToYSplineHeading
final TrajectoryActionBuilder lineToYSplineHeading(Double posY, Double heading, VelConstraint velConstraintOverride)
-
lineToYSplineHeading
final TrajectoryActionBuilder lineToYSplineHeading(Double posY, Double heading)
-
strafeTo
final TrajectoryActionBuilder strafeTo(Vector2d pos, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
strafeTo
final TrajectoryActionBuilder strafeTo(Vector2d pos, VelConstraint velConstraintOverride)
-
strafeTo
final TrajectoryActionBuilder strafeTo(Vector2d pos)
-
strafeToConstantHeading
final TrajectoryActionBuilder strafeToConstantHeading(Vector2d pos, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
strafeToConstantHeading
final TrajectoryActionBuilder strafeToConstantHeading(Vector2d pos, VelConstraint velConstraintOverride)
-
strafeToConstantHeading
final TrajectoryActionBuilder strafeToConstantHeading(Vector2d pos)
-
strafeToLinearHeading
final TrajectoryActionBuilder strafeToLinearHeading(Vector2d pos, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
strafeToLinearHeading
final TrajectoryActionBuilder strafeToLinearHeading(Vector2d pos, Rotation2d heading, VelConstraint velConstraintOverride)
-
strafeToLinearHeading
final TrajectoryActionBuilder strafeToLinearHeading(Vector2d pos, Rotation2d heading)
-
strafeToLinearHeading
final TrajectoryActionBuilder strafeToLinearHeading(Vector2d pos, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
strafeToLinearHeading
final TrajectoryActionBuilder strafeToLinearHeading(Vector2d pos, Double heading, VelConstraint velConstraintOverride)
-
strafeToLinearHeading
final TrajectoryActionBuilder strafeToLinearHeading(Vector2d pos, Double heading)
-
strafeToSplineHeading
final TrajectoryActionBuilder strafeToSplineHeading(Vector2d pos, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
strafeToSplineHeading
final TrajectoryActionBuilder strafeToSplineHeading(Vector2d pos, Rotation2d heading, VelConstraint velConstraintOverride)
-
strafeToSplineHeading
final TrajectoryActionBuilder strafeToSplineHeading(Vector2d pos, Rotation2d heading)
-
strafeToSplineHeading
final TrajectoryActionBuilder strafeToSplineHeading(Vector2d pos, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
strafeToSplineHeading
final TrajectoryActionBuilder strafeToSplineHeading(Vector2d pos, Double heading, VelConstraint velConstraintOverride)
-
strafeToSplineHeading
final TrajectoryActionBuilder strafeToSplineHeading(Vector2d pos, Double heading)
-
splineTo
final TrajectoryActionBuilder splineTo(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
splineTo
final TrajectoryActionBuilder splineTo(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride)
-
splineTo
final TrajectoryActionBuilder splineTo(Vector2d pos, Rotation2d tangent)
-
splineTo
final TrajectoryActionBuilder splineTo(Vector2d pos, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
splineTo
final TrajectoryActionBuilder splineTo(Vector2d pos, Double tangent, VelConstraint velConstraintOverride)
-
splineTo
final TrajectoryActionBuilder splineTo(Vector2d pos, Double tangent)
-
splineToConstantHeading
final TrajectoryActionBuilder splineToConstantHeading(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
splineToConstantHeading
final TrajectoryActionBuilder splineToConstantHeading(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride)
-
splineToConstantHeading
final TrajectoryActionBuilder splineToConstantHeading(Vector2d pos, Rotation2d tangent)
-
splineToConstantHeading
final TrajectoryActionBuilder splineToConstantHeading(Vector2d pos, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
splineToConstantHeading
final TrajectoryActionBuilder splineToConstantHeading(Vector2d pos, Double tangent, VelConstraint velConstraintOverride)
-
splineToConstantHeading
final TrajectoryActionBuilder splineToConstantHeading(Vector2d pos, Double tangent)
-
splineToLinearHeading
final TrajectoryActionBuilder splineToLinearHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
splineToLinearHeading
final TrajectoryActionBuilder splineToLinearHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride)
-
splineToLinearHeading
final TrajectoryActionBuilder splineToLinearHeading(Pose2d pose, Rotation2d tangent)
-
splineToLinearHeading
final TrajectoryActionBuilder splineToLinearHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
splineToLinearHeading
final TrajectoryActionBuilder splineToLinearHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride)
-
splineToLinearHeading
final TrajectoryActionBuilder splineToLinearHeading(Pose2d pose, Double tangent)
-
splineToSplineHeading
final TrajectoryActionBuilder splineToSplineHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
splineToSplineHeading
final TrajectoryActionBuilder splineToSplineHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride)
-
splineToSplineHeading
final TrajectoryActionBuilder splineToSplineHeading(Pose2d pose, Rotation2d tangent)
-
splineToSplineHeading
final TrajectoryActionBuilder splineToSplineHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)
-
splineToSplineHeading
final TrajectoryActionBuilder splineToSplineHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride)
-
splineToSplineHeading
final TrajectoryActionBuilder splineToSplineHeading(Pose2d pose, Double tangent)
-
-
-
-