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()

• getEps

   final Double getEps()

• 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.

• stopAndAdd

   final TrajectoryActionBuilder stopAndAdd(InstantFunction f)

• 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.

• afterDisp

   final TrajectoryActionBuilder afterDisp(Double ds, InstantFunction f)

• 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.

• afterTime

   final TrajectoryActionBuilder afterTime(Double dt, InstantFunction f)

• 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)

• fresh

   final TrajectoryActionBuilder fresh()

  Creates a new builder with the same settings at the current pose, tangent.

• build

   final Action build()