Package com.acmerobotics.roadrunner
Class SafePosePathBuilder
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public final class SafePosePathBuilderWrapper for PosePathSeqBuilder that provides the same guarantees without throwing PosePathSeqBuilder.RotationContinuityException.
For method-by-method documentation, see the identical methods on PosePathSeqBuilder.
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Constructor Summary
Constructors Constructor Description SafePosePathBuilder(PositionPath<Arclength> path, Rotation2d beginHeading)SafePosePathBuilder(PositionPath<Arclength> path, Double beginHeading)
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Method Summary
Modifier and Type Method Description final RestrictedPosePathBuildertangentUntil(Double disp)final RestrictedPosePathBuilderconstantUntil(Double disp)final RestrictedPosePathBuilderlinearUntil(Double disp, Rotation2d heading)final RestrictedPosePathBuilderlinearUntil(Double disp, Double heading)final SafePosePathBuildersplineUntil(Double disp, Rotation2d heading)final SafePosePathBuildersplineUntil(Double disp, Double heading)final List<CompositePosePath>tangentUntilEnd()final List<CompositePosePath>constantUntilEnd()final List<CompositePosePath>linearUntilEnd(Rotation2d heading)final List<CompositePosePath>linearUntilEnd(Double heading)final List<CompositePosePath>splineUntilEnd(Rotation2d heading)final List<CompositePosePath>splineUntilEnd(Double heading)-
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Constructor Detail
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SafePosePathBuilder
SafePosePathBuilder(PositionPath<Arclength> path, Rotation2d beginHeading)
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SafePosePathBuilder
SafePosePathBuilder(PositionPath<Arclength> path, Double beginHeading)
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Method Detail
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tangentUntil
final RestrictedPosePathBuilder tangentUntil(Double disp)
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constantUntil
final RestrictedPosePathBuilder constantUntil(Double disp)
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linearUntil
final RestrictedPosePathBuilder linearUntil(Double disp, Rotation2d heading)
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linearUntil
final RestrictedPosePathBuilder linearUntil(Double disp, Double heading)
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splineUntil
final SafePosePathBuilder splineUntil(Double disp, Rotation2d heading)
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splineUntil
final SafePosePathBuilder splineUntil(Double disp, Double heading)
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tangentUntilEnd
final List<CompositePosePath> tangentUntilEnd()
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constantUntilEnd
final List<CompositePosePath> constantUntilEnd()
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linearUntilEnd
final List<CompositePosePath> linearUntilEnd(Rotation2d heading)
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linearUntilEnd
final List<CompositePosePath> linearUntilEnd(Double heading)
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splineUntilEnd
final List<CompositePosePath> splineUntilEnd(Rotation2d heading)
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splineUntilEnd
final List<CompositePosePath> splineUntilEnd(Double heading)
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