Trajectory Builder
class TrajectoryBuilder
Constructors
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constructor(params: TrajectoryBuilderParams, beginPose: Pose2d, beginEndVel: Double, baseVelConstraint: VelConstraint, baseAccelConstraint: AccelConstraint, poseMap: PoseMap = IdentityPoseMap())
Functions
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fun lineToX(posX: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun lineToXConstantHeading(posX: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun lineToXLinearHeading(posX: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
fun lineToXLinearHeading(posX: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun lineToXSplineHeading(posX: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
fun lineToXSplineHeading(posX: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun lineToY(posY: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun lineToYConstantHeading(posY: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun lineToYLinearHeading(posY: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
fun lineToYLinearHeading(posY: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun lineToYSplineHeading(posY: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
fun lineToYSplineHeading(posY: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun splineTo(pos: Vector2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
fun splineTo(pos: Vector2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun splineToConstantHeading(pos: Vector2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
fun splineToConstantHeading(pos: Vector2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun splineToLinearHeading(pose: Pose2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
fun splineToLinearHeading(pose: Pose2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun splineToSplineHeading(pose: Pose2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
fun splineToSplineHeading(pose: Pose2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun strafeTo(pos: Vector2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun strafeToConstantHeading(pos: Vector2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun strafeToLinearHeading(pos: Vector2d, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
fun strafeToLinearHeading(pos: Vector2d, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
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fun strafeToSplineHeading(pos: Vector2d, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder
fun strafeToSplineHeading(pos: Vector2d, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryBuilder