Trajectory Action Builder
class TrajectoryActionBuilder
Builder that combines trajectories, turns, and other actions.
Constructors
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constructor(turnActionFactory: TurnActionFactory, trajectoryActionFactory: TrajectoryActionFactory, beginPose: Pose2d, eps: Double, beginEndVel: Double, baseTurnConstraints: TurnConstraints, baseVelConstraint: VelConstraint, baseAccelConstraint: AccelConstraint, dispResolution: Double, angResolution: Double, poseMap: PoseMap = IdentityPoseMap())
Properties
Functions
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Ends the current trajectory in progress. No-op if no trajectory segments are pending.
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fun lineToX(posX: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun lineToXConstantHeading(posX: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun lineToXLinearHeading(posX: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
fun lineToXLinearHeading(posX: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun lineToXSplineHeading(posX: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
fun lineToXSplineHeading(posX: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun lineToY(posY: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun lineToYConstantHeading(posY: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun lineToYLinearHeading(posY: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
fun lineToYLinearHeading(posY: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun lineToYSplineHeading(posY: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
fun lineToYSplineHeading(posY: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun splineTo(pos: Vector2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
fun splineTo(pos: Vector2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun splineToConstantHeading(pos: Vector2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
fun splineToConstantHeading(pos: Vector2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun splineToLinearHeading(pose: Pose2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
fun splineToLinearHeading(pose: Pose2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun splineToSplineHeading(pose: Pose2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
fun splineToSplineHeading(pose: Pose2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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Stops the current trajectory (like endTrajectory) and adds action a next.
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fun strafeTo(pos: Vector2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun strafeToConstantHeading(pos: Vector2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun strafeToLinearHeading(pos: Vector2d, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
fun strafeToLinearHeading(pos: Vector2d, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun strafeToSplineHeading(pos: Vector2d, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
fun strafeToSplineHeading(pos: Vector2d, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
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fun turnTo(heading: Rotation2d, turnConstraintsOverride: TurnConstraints? = null): TrajectoryActionBuilder
fun turnTo(heading: Double, turnConstraintsOverride: TurnConstraints? = null): TrajectoryActionBuilder
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Waits t seconds.