core/com.acmerobotics.roadrunner/SafePosePathBuilder

SafePosePathBuilder

class SafePosePathBuilder

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

For method-by-method documentation, see the identical methods on PosePathSeqBuilder.

Constructors

SafePosePathBuilder

constructor(path: PositionPath<Arclength>, beginHeading: Rotation2d)

constructor(path: PositionPath<Arclength>, beginHeading: Double)

Functions

fun constantUntil(disp: Double): RestrictedPosePathBuilder

constantUntilEnd

fun constantUntilEnd(): List<CompositePosePath>

fun linearUntil(disp: Double, heading: Rotation2d): RestrictedPosePathBuilder

fun linearUntil(disp: Double, heading: Double): RestrictedPosePathBuilder

fun linearUntilEnd(heading: Rotation2d): List<CompositePosePath>

fun linearUntilEnd(heading: Double): List<CompositePosePath>

fun splineUntil(disp: Double, heading: Rotation2d): SafePosePathBuilder

fun splineUntil(disp: Double, heading: Double): SafePosePathBuilder

fun splineUntilEnd(heading: Rotation2d): List<CompositePosePath>

fun splineUntilEnd(heading: Double): List<CompositePosePath>

fun tangentUntil(disp: Double): RestrictedPosePathBuilder

tangentUntilEnd

fun tangentUntilEnd(): List<CompositePosePath>