actions/com.acmerobotics.roadrunner/TrajectoryActionBuilder

TrajectoryActionBuilder

class TrajectoryActionBuilder

Builder that combines trajectories, turns, and other actions.

Constructors

TrajectoryActionBuilder

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

val angResolution: Double

baseAccelConstraint

val baseAccelConstraint: AccelConstraint

baseTurnConstraints

val baseTurnConstraints: TurnConstraints

baseVelConstraint

val baseVelConstraint: VelConstraint

val beginEndVel: Double

val dispResolution: Double

val eps: Double

val poseMap: PoseMap

trajectoryActionFactory

val trajectoryActionFactory: TrajectoryActionFactory

turnActionFactory

val turnActionFactory: TurnActionFactory

Functions

fun afterDisp(ds: Double, a: Action): TrajectoryActionBuilder

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.

fun afterDisp(ds: Double, f: InstantFunction): TrajectoryActionBuilder

fun afterTime(dt: Double, a: Action): TrajectoryActionBuilder

Schedules action a to execute in parallel starting dt seconds after the last trajectory segment, turn, or other action.

fun afterTime(dt: Double, f: InstantFunction): TrajectoryActionBuilder

fun build(): Action

fun endTrajectory(): TrajectoryActionBuilder

Ends the current trajectory in progress. No-op if no trajectory segments are pending.

fun fresh(): TrajectoryActionBuilder

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

fun lineToX(posX: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

lineToXConstantHeading

fun lineToXConstantHeading(posX: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

lineToXLinearHeading

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

lineToXSplineHeading

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

fun lineToY(posY: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

lineToYConstantHeading

fun lineToYConstantHeading(posY: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

lineToYLinearHeading

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

lineToYSplineHeading

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

fun setReversed(reversed: Boolean): TrajectoryActionBuilder

fun setTangent(r: Rotation2d): TrajectoryActionBuilder

fun setTangent(r: Double): TrajectoryActionBuilder

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

splineToConstantHeading

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

splineToLinearHeading

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

splineToSplineHeading

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

fun stopAndAdd(a: Action): TrajectoryActionBuilder

Stops the current trajectory (like endTrajectory) and adds action a next.

fun stopAndAdd(f: InstantFunction): TrajectoryActionBuilder

fun strafeTo(pos: Vector2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

strafeToConstantHeading

fun strafeToConstantHeading(pos: Vector2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

strafeToLinearHeading

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

strafeToSplineHeading

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

fun turn(angle: Double, turnConstraintsOverride: TurnConstraints? = null): TrajectoryActionBuilder

fun turnTo(heading: Rotation2d, turnConstraintsOverride: TurnConstraints? = null): TrajectoryActionBuilder

fun turnTo(heading: Double, turnConstraintsOverride: TurnConstraints? = null): TrajectoryActionBuilder

fun waitSeconds(t: Double): TrajectoryActionBuilder

Waits t seconds.