Command/com.amarcolini.joos.hardware.drive/TrajectoryCommandBuilder

TrajectoryCommandBuilder

public final class TrajectoryCommandBuilder

Constructors

public TrajectoryCommandBuilder TrajectoryCommandBuilder(DriveTrajectoryFollower drive, Pose2d startPose, Angle startTangent)

public TrajectoryCommandBuilder TrajectoryCommandBuilder(DriveTrajectoryFollower drive, Pose2d startPose, Boolean reversed)

public TrajectoryCommandBuilder TrajectoryCommandBuilder(DriveTrajectoryFollower drive)

Functions

addAccelConstraints

@JvmOverloads()

public final TrajectoryCommandBuilder addAccelConstraints()

@JvmOverloads()

public final TrajectoryCommandBuilder addAccelConstraints(TrajectoryAccelerationConstraint accelConstraint)

Adds the provided acceleration constraints for the following path segments.

addAngularConstraints

@JvmOverloads()

public final TrajectoryCommandBuilder addAngularConstraints(Angle angVel)

@JvmOverloads()

public final TrajectoryCommandBuilder addAngularConstraints(Angle angVel, Angle angAccel)

@JvmOverloads()

public final TrajectoryCommandBuilder addAngularConstraints(Angle angVel, Angle angAccel, Angle angJerk)

Adds the provided angular constraints for the following turn segments.

addConstraints

public final TrajectoryCommandBuilder addConstraints(TrajectoryConstraints constraints)

Adds the provided constraints to the following path and turn segments.

@JvmOverloads()

public final TrajectoryCommandBuilder addConstraints(TrajectoryVelocityConstraint velConstraint)

@JvmOverloads()

public final TrajectoryCommandBuilder addConstraints(TrajectoryVelocityConstraint velConstraint, TrajectoryAccelerationConstraint accelConstraint)

Adds the provided constraints for the following path segments.

addDisplacementMarker

public final TrajectoryCommandBuilder addDisplacementMarker(MarkerCallback callback)

Adds a marker at the current position of the trajectory.

public final TrajectoryCommandBuilder addDisplacementMarker(Double displacement, MarkerCallback callback)

Adds a marker to the trajectory at displacement.

public final TrajectoryCommandBuilder addDisplacementMarker(Function1<Double, Double> displacement, MarkerCallback callback)

Adds a marker to the trajectory at displacement evaluated with path length.

public final TrajectoryCommandBuilder addDisplacementMarker(Double scale, Double offset, MarkerCallback callback)

Adds a marker to the trajectory at scale * path length + offset.

addSpatialMarker

public final TrajectoryCommandBuilder addSpatialMarker(Vector2d point, MarkerCallback callback)

Adds a marker that will be triggered at the closest trajectory point to point.

addTemporalMarker

public final TrajectoryCommandBuilder addTemporalMarker(Double time, MarkerCallback callback)

Adds a marker to the trajectory at time.

public final TrajectoryCommandBuilder addTemporalMarker(Function1<Double, Double> time, MarkerCallback callback)

Adds a marker to the trajectory at time evaluated with the trajectory duration.

public final TrajectoryCommandBuilder addTemporalMarker(Double scale, Double offset, MarkerCallback callback)

Adds a marker to the trajectory at scale * trajectory duration + offset.

addVelocityConstraints

public final TrajectoryCommandBuilder addVelocityConstraints(TrajectoryVelocityConstraint velConstraint)

Adds the provided velocity constraints for the following path segments.

back

public final TrajectoryCommandBuilder back(Double distance)

@JvmOverloads()

public final TrajectoryCommandBuilder back(Double distance, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder back(Double distance, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a line straight backward.

build

public final Trajectory build()

Constructs the Trajectory instance.

forward

public final TrajectoryCommandBuilder forward(Double distance)

@JvmOverloads()

public final TrajectoryCommandBuilder forward(Double distance, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder forward(Double distance, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a line straight forward.

lineTo

public final TrajectoryCommandBuilder lineTo(Vector2d endPosition)

@JvmOverloads()

public final TrajectoryCommandBuilder lineTo(Vector2d endPosition, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder lineTo(Vector2d endPosition, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a line segment with tangent heading interpolation.

lineToConstantHeading

public final TrajectoryCommandBuilder lineToConstantHeading(Vector2d endPosition)

@JvmOverloads()

public final TrajectoryCommandBuilder lineToConstantHeading(Vector2d endPosition, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder lineToConstantHeading(Vector2d endPosition, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a line segment with constant heading interpolation.

lineToLinearHeading

public final TrajectoryCommandBuilder lineToLinearHeading(Pose2d endPose)

@JvmOverloads()

public final TrajectoryCommandBuilder lineToLinearHeading(Pose2d endPose, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder lineToLinearHeading(Pose2d endPose, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a line segment with linear heading interpolation.

lineToSplineHeading

public final TrajectoryCommandBuilder lineToSplineHeading(Pose2d endPose)

@JvmOverloads()

public final TrajectoryCommandBuilder lineToSplineHeading(Pose2d endPose, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder lineToSplineHeading(Pose2d endPose, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a line segment with spline heading interpolation.

resetAllConstraints

public final TrajectoryCommandBuilder resetAllConstraints()

Resets all constraints to the default constructor-provided values.

resetAngularConstraints

public final TrajectoryCommandBuilder resetAngularConstraints()

Resets the angular constraints to the default constructor-provided values.

resetConstraints

public final TrajectoryCommandBuilder resetConstraints()

Resets the path constraints to the default constructor-provided values.

setAccelConstraints

public final TrajectoryCommandBuilder setAccelConstraints(TrajectoryAccelerationConstraint accelConstraintOverride)

Sets the acceleration constraints for the following path segments.

setAngularConstraints

@JvmOverloads()

public final TrajectoryCommandBuilder setAngularConstraints(Angle angVelOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder setAngularConstraints(Angle angVelOverride, Angle angAccelOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder setAngularConstraints(Angle angVelOverride, Angle angAccelOverride, Angle angJerkOverride)

Sets the angular constraints for the following turn segments.

setConstraints

public final TrajectoryCommandBuilder setConstraints(TrajectoryConstraints constraints)

Sets the constraints for the following segments using the provided constraints. Sets both the path and angular constraints.

public final TrajectoryCommandBuilder setConstraints(TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Sets the constraints for the following path segments.

setVelocityConstraints

public final TrajectoryCommandBuilder setVelocityConstraints(TrajectoryVelocityConstraint velConstraintOverride)

Sets the velocity constraints for the following path segments.

splineTo

public final TrajectoryCommandBuilder splineTo(Vector2d endPosition, Angle endTangent)

@JvmOverloads()

public final TrajectoryCommandBuilder splineTo(Vector2d endPosition, Angle endTangent, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder splineTo(Vector2d endPosition, Angle endTangent, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a spline segment with tangent heading interpolation.

splineToConstantHeading

public final TrajectoryCommandBuilder splineToConstantHeading(Vector2d endPosition, Angle endTangent)

@JvmOverloads()

public final TrajectoryCommandBuilder splineToConstantHeading(Vector2d endPosition, Angle endTangent, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder splineToConstantHeading(Vector2d endPosition, Angle endTangent, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a spline segment with constant heading interpolation.

splineToLinearHeading

public final TrajectoryCommandBuilder splineToLinearHeading(Pose2d endPose, Angle endTangent)

@JvmOverloads()

public final TrajectoryCommandBuilder splineToLinearHeading(Pose2d endPose, Angle endTangent, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder splineToLinearHeading(Pose2d endPose, Angle endTangent, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a spline segment with linear heading interpolation.

splineToSplineHeading

public final TrajectoryCommandBuilder splineToSplineHeading(Pose2d endPose, Angle endTangent)

@JvmOverloads()

public final TrajectoryCommandBuilder splineToSplineHeading(Pose2d endPose, Angle endTangent, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder splineToSplineHeading(Pose2d endPose, Angle endTangent, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a spline segment with spline heading interpolation.

strafeLeft

public final TrajectoryCommandBuilder strafeLeft(Double distance)

@JvmOverloads()

public final TrajectoryCommandBuilder strafeLeft(Double distance, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder strafeLeft(Double distance, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a segment that strafes left in the robot reference frame.

strafeRight

public final TrajectoryCommandBuilder strafeRight(Double distance)

@JvmOverloads()

public final TrajectoryCommandBuilder strafeRight(Double distance, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder strafeRight(Double distance, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a segment that strafes right in the robot reference frame.

strafeTo

public final TrajectoryCommandBuilder strafeTo(Vector2d endPosition)

@JvmOverloads()

public final TrajectoryCommandBuilder strafeTo(Vector2d endPosition, TrajectoryVelocityConstraint velConstraintOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder strafeTo(Vector2d endPosition, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)

Adds a strafe path segment.

turn

public final TrajectoryCommandBuilder turn(Angle angle)

Adds a turn segment that turns the specified angle.

@JvmOverloads()

public final TrajectoryCommandBuilder turn(Angle angle, Angle angVelOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder turn(Angle angle, Angle angVelOverride, Angle angAccelOverride)

@JvmOverloads()

public final TrajectoryCommandBuilder turn(Angle angle, Angle angVelOverride, Angle angAccelOverride, Angle angJerkOverride)

Adds a turn segment that turns angle degrees.

wait

public final TrajectoryCommandBuilder wait(Double seconds)

Adds a wait segment that waits seconds.