Safe Trajectory Builder
class SafeTrajectoryBuilder
Constructors
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constructor(beginPose: Pose2d, beginTangent: Rotation2d, eps: Double, beginEndVel: Double, baseVelConstraint: VelConstraint, baseAccelConstraint: AccelConstraint, dispResolution: Double, angResolution: Double, poseMap: PoseMap = IdentityPoseMap())
constructor(beginPose: Pose2d, beginTangent: Double, eps: Double, beginEndVel: Double, baseVelConstraint: VelConstraint, baseAccelConstraint: AccelConstraint, dispResolution: Double, angResolution: Double, poseMap: PoseMap = IdentityPoseMap())
Functions
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fun lineToX(posX: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TangentTrajectoryBuilder
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fun lineToXConstantHeading(posX: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): ConstantTrajectoryBuilder
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fun lineToXLinearHeading(posX: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
fun lineToXLinearHeading(posX: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
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fun lineToXSplineHeading(posX: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
fun lineToXSplineHeading(posX: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
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fun lineToY(posY: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TangentTrajectoryBuilder
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fun lineToYConstantHeading(posY: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): ConstantTrajectoryBuilder
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fun lineToYLinearHeading(posY: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
fun lineToYLinearHeading(posY: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
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fun lineToYSplineHeading(posY: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
fun lineToYSplineHeading(posY: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
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fun splineTo(pos: Vector2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TangentTrajectoryBuilder
fun splineTo(pos: Vector2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TangentTrajectoryBuilder
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fun splineToConstantHeading(pos: Vector2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): ConstantTrajectoryBuilder
fun splineToConstantHeading(pos: Vector2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): ConstantTrajectoryBuilder
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fun splineToLinearHeading(pose: Pose2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
fun splineToLinearHeading(pose: Pose2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): RestrictedTrajectoryBuilder
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fun splineToSplineHeading(pose: Pose2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder
fun splineToSplineHeading(pose: Pose2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): SafeTrajectoryBuilder