Constructor Detail

• TrajectoryBuilder

  TrajectoryBuilder(TrajectoryBuilderParams params, Pose2d beginPose, Double beginEndVel, VelConstraint baseVelConstraint, AccelConstraint baseAccelConstraint, PoseMap poseMap)

• TrajectoryBuilder

  TrajectoryBuilder(TrajectoryBuilderParams params, Pose2d beginPose, Double beginEndVel, VelConstraint baseVelConstraint, AccelConstraint baseAccelConstraint)

Method Detail

• setTangent

   final TrajectoryBuilder setTangent(Rotation2d r)

• setTangent

   final TrajectoryBuilder setTangent(Double r)

• setReversed

   final TrajectoryBuilder setReversed(Boolean reversed)

• lineToX

  @JvmOverloads() final TrajectoryBuilder lineToX(Double posX, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToX

  @JvmOverloads() final TrajectoryBuilder lineToX(Double posX, VelConstraint velConstraintOverride)

• lineToX

  @JvmOverloads() final TrajectoryBuilder lineToX(Double posX)

• lineToXConstantHeading

  @JvmOverloads() final TrajectoryBuilder lineToXConstantHeading(Double posX, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToXConstantHeading

  @JvmOverloads() final TrajectoryBuilder lineToXConstantHeading(Double posX, VelConstraint velConstraintOverride)

• lineToXConstantHeading

  @JvmOverloads() final TrajectoryBuilder lineToXConstantHeading(Double posX)

• lineToXLinearHeading

  @JvmOverloads() final TrajectoryBuilder lineToXLinearHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToXLinearHeading

  @JvmOverloads() final TrajectoryBuilder lineToXLinearHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride)

• lineToXLinearHeading

  @JvmOverloads() final TrajectoryBuilder lineToXLinearHeading(Double posX, Rotation2d heading)

• lineToXLinearHeading

  @JvmOverloads() final TrajectoryBuilder lineToXLinearHeading(Double posX, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToXLinearHeading

  @JvmOverloads() final TrajectoryBuilder lineToXLinearHeading(Double posX, Double heading, VelConstraint velConstraintOverride)

• lineToXLinearHeading

  @JvmOverloads() final TrajectoryBuilder lineToXLinearHeading(Double posX, Double heading)

• lineToXSplineHeading

  @JvmOverloads() final TrajectoryBuilder lineToXSplineHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToXSplineHeading

  @JvmOverloads() final TrajectoryBuilder lineToXSplineHeading(Double posX, Rotation2d heading, VelConstraint velConstraintOverride)

• lineToXSplineHeading

  @JvmOverloads() final TrajectoryBuilder lineToXSplineHeading(Double posX, Rotation2d heading)

• lineToXSplineHeading

  @JvmOverloads() final TrajectoryBuilder lineToXSplineHeading(Double posX, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToXSplineHeading

  @JvmOverloads() final TrajectoryBuilder lineToXSplineHeading(Double posX, Double heading, VelConstraint velConstraintOverride)

• lineToXSplineHeading

  @JvmOverloads() final TrajectoryBuilder lineToXSplineHeading(Double posX, Double heading)

• lineToY

  @JvmOverloads() final TrajectoryBuilder lineToY(Double posY, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToY

  @JvmOverloads() final TrajectoryBuilder lineToY(Double posY, VelConstraint velConstraintOverride)

• lineToY

  @JvmOverloads() final TrajectoryBuilder lineToY(Double posY)

• lineToYConstantHeading

  @JvmOverloads() final TrajectoryBuilder lineToYConstantHeading(Double posY, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToYConstantHeading

  @JvmOverloads() final TrajectoryBuilder lineToYConstantHeading(Double posY, VelConstraint velConstraintOverride)

• lineToYConstantHeading

  @JvmOverloads() final TrajectoryBuilder lineToYConstantHeading(Double posY)

• lineToYLinearHeading

  @JvmOverloads() final TrajectoryBuilder lineToYLinearHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToYLinearHeading

  @JvmOverloads() final TrajectoryBuilder lineToYLinearHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride)

• lineToYLinearHeading

  @JvmOverloads() final TrajectoryBuilder lineToYLinearHeading(Double posY, Rotation2d heading)

• lineToYLinearHeading

  @JvmOverloads() final TrajectoryBuilder lineToYLinearHeading(Double posY, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToYLinearHeading

  @JvmOverloads() final TrajectoryBuilder lineToYLinearHeading(Double posY, Double heading, VelConstraint velConstraintOverride)

• lineToYLinearHeading

  @JvmOverloads() final TrajectoryBuilder lineToYLinearHeading(Double posY, Double heading)

• lineToYSplineHeading

  @JvmOverloads() final TrajectoryBuilder lineToYSplineHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToYSplineHeading

  @JvmOverloads() final TrajectoryBuilder lineToYSplineHeading(Double posY, Rotation2d heading, VelConstraint velConstraintOverride)

• lineToYSplineHeading

  @JvmOverloads() final TrajectoryBuilder lineToYSplineHeading(Double posY, Rotation2d heading)

• lineToYSplineHeading

  @JvmOverloads() final TrajectoryBuilder lineToYSplineHeading(Double posY, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• lineToYSplineHeading

  @JvmOverloads() final TrajectoryBuilder lineToYSplineHeading(Double posY, Double heading, VelConstraint velConstraintOverride)

• lineToYSplineHeading

  @JvmOverloads() final TrajectoryBuilder lineToYSplineHeading(Double posY, Double heading)

• strafeTo

  @JvmOverloads() final TrajectoryBuilder strafeTo(Vector2d pos, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• strafeTo

  @JvmOverloads() final TrajectoryBuilder strafeTo(Vector2d pos, VelConstraint velConstraintOverride)

• strafeTo

  @JvmOverloads() final TrajectoryBuilder strafeTo(Vector2d pos)

• strafeToConstantHeading

  @JvmOverloads() final TrajectoryBuilder strafeToConstantHeading(Vector2d pos, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• strafeToConstantHeading

  @JvmOverloads() final TrajectoryBuilder strafeToConstantHeading(Vector2d pos, VelConstraint velConstraintOverride)

• strafeToConstantHeading

  @JvmOverloads() final TrajectoryBuilder strafeToConstantHeading(Vector2d pos)

• strafeToLinearHeading

  @JvmOverloads() final TrajectoryBuilder strafeToLinearHeading(Vector2d pos, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• strafeToLinearHeading

  @JvmOverloads() final TrajectoryBuilder strafeToLinearHeading(Vector2d pos, Rotation2d heading, VelConstraint velConstraintOverride)

• strafeToLinearHeading

  @JvmOverloads() final TrajectoryBuilder strafeToLinearHeading(Vector2d pos, Rotation2d heading)

• strafeToLinearHeading

  @JvmOverloads() final TrajectoryBuilder strafeToLinearHeading(Vector2d pos, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• strafeToLinearHeading

  @JvmOverloads() final TrajectoryBuilder strafeToLinearHeading(Vector2d pos, Double heading, VelConstraint velConstraintOverride)

• strafeToLinearHeading

  @JvmOverloads() final TrajectoryBuilder strafeToLinearHeading(Vector2d pos, Double heading)

• strafeToSplineHeading

  @JvmOverloads() final TrajectoryBuilder strafeToSplineHeading(Vector2d pos, Rotation2d heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• strafeToSplineHeading

  @JvmOverloads() final TrajectoryBuilder strafeToSplineHeading(Vector2d pos, Rotation2d heading, VelConstraint velConstraintOverride)

• strafeToSplineHeading

  @JvmOverloads() final TrajectoryBuilder strafeToSplineHeading(Vector2d pos, Rotation2d heading)

• strafeToSplineHeading

  @JvmOverloads() final TrajectoryBuilder strafeToSplineHeading(Vector2d pos, Double heading, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• strafeToSplineHeading

  @JvmOverloads() final TrajectoryBuilder strafeToSplineHeading(Vector2d pos, Double heading, VelConstraint velConstraintOverride)

• strafeToSplineHeading

  @JvmOverloads() final TrajectoryBuilder strafeToSplineHeading(Vector2d pos, Double heading)

• splineTo

  @JvmOverloads() final TrajectoryBuilder splineTo(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineTo

  @JvmOverloads() final TrajectoryBuilder splineTo(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride)

• splineTo

  @JvmOverloads() final TrajectoryBuilder splineTo(Vector2d pos, Rotation2d tangent)

• splineTo

  @JvmOverloads() final TrajectoryBuilder splineTo(Vector2d pos, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineTo

  @JvmOverloads() final TrajectoryBuilder splineTo(Vector2d pos, Double tangent, VelConstraint velConstraintOverride)

• splineTo

  @JvmOverloads() final TrajectoryBuilder splineTo(Vector2d pos, Double tangent)

• splineToConstantHeading

  @JvmOverloads() final TrajectoryBuilder splineToConstantHeading(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineToConstantHeading

  @JvmOverloads() final TrajectoryBuilder splineToConstantHeading(Vector2d pos, Rotation2d tangent, VelConstraint velConstraintOverride)

• splineToConstantHeading

  @JvmOverloads() final TrajectoryBuilder splineToConstantHeading(Vector2d pos, Rotation2d tangent)

• splineToConstantHeading

  @JvmOverloads() final TrajectoryBuilder splineToConstantHeading(Vector2d pos, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineToConstantHeading

  @JvmOverloads() final TrajectoryBuilder splineToConstantHeading(Vector2d pos, Double tangent, VelConstraint velConstraintOverride)

• splineToConstantHeading

  @JvmOverloads() final TrajectoryBuilder splineToConstantHeading(Vector2d pos, Double tangent)

• splineToLinearHeading

  @JvmOverloads() final TrajectoryBuilder splineToLinearHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineToLinearHeading

  @JvmOverloads() final TrajectoryBuilder splineToLinearHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride)

• splineToLinearHeading

  @JvmOverloads() final TrajectoryBuilder splineToLinearHeading(Pose2d pose, Rotation2d tangent)

• splineToLinearHeading

  @JvmOverloads() final TrajectoryBuilder splineToLinearHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineToLinearHeading

  @JvmOverloads() final TrajectoryBuilder splineToLinearHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride)

• splineToLinearHeading

  @JvmOverloads() final TrajectoryBuilder splineToLinearHeading(Pose2d pose, Double tangent)

• splineToSplineHeading

  @JvmOverloads() final TrajectoryBuilder splineToSplineHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineToSplineHeading

  @JvmOverloads() final TrajectoryBuilder splineToSplineHeading(Pose2d pose, Rotation2d tangent, VelConstraint velConstraintOverride)

• splineToSplineHeading

  @JvmOverloads() final TrajectoryBuilder splineToSplineHeading(Pose2d pose, Rotation2d tangent)

• splineToSplineHeading

  @JvmOverloads() final TrajectoryBuilder splineToSplineHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride, AccelConstraint accelConstraintOverride)

• splineToSplineHeading

  @JvmOverloads() final TrajectoryBuilder splineToSplineHeading(Pose2d pose, Double tangent, VelConstraint velConstraintOverride)

• splineToSplineHeading

  @JvmOverloads() final TrajectoryBuilder splineToSplineHeading(Pose2d pose, Double tangent)

• build

   final List<Trajectory> build()