Navigation/com.amarcolini.joos.path/PathBuilder

PathBuilder

public final class PathBuilder

Easy-to-use builder for creating Path instances.

Parameters

startPose

start pose

startDeriv

start derivative

startSecondDeriv

start second derivative

See also

Constructors

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@JvmOverloads()
public PathBuilder PathBuilder(Pose2d startPose, Angle startTangent)
@JvmOverloads()
public PathBuilder PathBuilder(Pose2d startPose)
public PathBuilder PathBuilder(Pose2d startPose, Boolean reversed)
public PathBuilder PathBuilder(Path path, Double s)
public PathBuilder PathBuilder(Pose2d startPose, Pose2d startDeriv, Pose2d startSecondDeriv)

Functions

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public final PathBuilder addLine(Vector2d endPosition, HeadingInterpolation headingInterpolation)

Adds a line segment with the specified heading interpolation.

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@JvmOverloads()
public final PathBuilder addSpline(Vector2d endPosition, Angle endTangent)
@JvmOverloads()
public final PathBuilder addSpline(Vector2d endPosition, Angle endTangent, Double startTangentMag)
@JvmOverloads()
public final PathBuilder addSpline(Vector2d endPosition, Angle endTangent, Double startTangentMag, Double endTangentMag)
@JvmOverloads()
public final PathBuilder addSpline(Vector2d endPosition, Angle endTangent, Double startTangentMag, Double endTangentMag, HeadingInterpolation headingInterpolation)

Adds a spline segment with the specified heading interpolation.

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public final PathBuilder back(Double distance)

Adds a line straight backward.

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public final Path build()

Constructs the Path instance.

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public final PathBuilder forward(Double distance)

Adds a line straight forward.

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public final PathBuilder lineTo(Vector2d endPosition)

Adds a line segment with tangent heading interpolation.

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public final PathBuilder lineToConstantHeading(Vector2d endPosition)

Adds a line segment with constant heading interpolation.

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public final PathBuilder lineToLinearHeading(Pose2d endPose)

Adds a line segment with linear heading interpolation.

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public final PathBuilder lineToSplineHeading(Pose2d endPose)

Adds a line segment with spline heading interpolation.

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public final Path preBuild()

Constructs the Path instance without reparameterizing the curves.

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public final PathBuilder splineTo(Vector2d endPosition, Angle endTangent)

Adds a spline segment with tangent heading interpolation.

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public final PathBuilder splineToConstantHeading(Vector2d endPosition, Angle endTangent)

Adds a spline segment with constant heading interpolation.

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public final PathBuilder splineToLinearHeading(Pose2d endPose, Angle endTangent)

Adds a spline segment with linear heading interpolation.

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public final PathBuilder splineToSplineHeading(Pose2d endPose, Angle endTangent)

Adds a spline segment with spline heading interpolation.

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public final PathBuilder strafeLeft(Double distance)

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

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public final PathBuilder strafeRight(Double distance)

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

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public final PathBuilder strafeTo(Vector2d endPosition)

Adds a strafe segment (i.e., a line segment with constant heading interpolation).