Navigation/com.amarcolini.joos.trajectory/BaseTrajectoryBuilder

BaseTrajectoryBuilder

public abstract class BaseTrajectoryBuilder<T extends BaseTrajectoryBuilder<T>>

Easy-to-use builder for creating Trajectory instances.

Parameters

startPose

start pose

startDeriv

start derivative

startSecondDeriv

start second derivative

Inheritors

SimpleTrajectoryBuilder

TrajectoryBuilder

Constructors

BaseTrajectoryBuilder

protected BaseTrajectoryBuilder<T> BaseTrajectoryBuilder(Pose2d startPose, Pose2d startDeriv, Pose2d startSecondDeriv)

Functions

addDisplacementMarker

public final T addDisplacementMarker(MarkerCallback callback)

Adds a marker at the current position of the trajectory.

public final T addDisplacementMarker(Double displacement, MarkerCallback callback)

Adds a marker to the trajectory at displacement.

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

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

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

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

addLine

public final T addLine(Vector2d endPosition, HeadingInterpolation headingInterpolation)

Adds a line segment with the specified heading interpolation.

addPathSegment

protected final Unit addPathSegment(Function0<Unit> add)

addSegment

protected final Unit addSegment(TrajectorySegment segment)

addSpatialMarker

public final T addSpatialMarker(Vector2d point, MarkerCallback callback)

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

addSpline

@JvmOverloads()

public final T addSpline(Vector2d endPosition, Angle endTangent)

@JvmOverloads()

public final T addSpline(Vector2d endPosition, Angle endTangent, Double startTangentMag)

@JvmOverloads()

public final T addSpline(Vector2d endPosition, Angle endTangent, Double startTangentMag, Double endTangentMag)

@JvmOverloads()

public final T addSpline(Vector2d endPosition, Angle endTangent, Double startTangentMag, Double endTangentMag, HeadingInterpolation headingInterpolation)

Adds a spline segment with the specified heading interpolation.

addTemporalMarker

public final T addTemporalMarker(Double time, MarkerCallback callback)

Adds a marker to the trajectory at time.

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

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

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

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

back

public final T back(Double distance)

Adds a line straight backward.

build

public final Trajectory build()

Constructs the Trajectory instance.

forward

public final T forward(Double distance)

Adds a line straight forward.

lineTo

public final T lineTo(Vector2d endPosition)

Adds a line segment with tangent heading interpolation.

lineToConstantHeading

public final T lineToConstantHeading(Vector2d endPosition)

Adds a line segment with constant heading interpolation.

lineToLinearHeading

public final T lineToLinearHeading(Pose2d endPose)

Adds a line segment with linear heading interpolation.

lineToSplineHeading

public final T lineToSplineHeading(Pose2d endPose)

Adds a line segment with spline heading interpolation.

makePathSegment

protected abstract PathTrajectorySegment makePathSegment(Path path)

makeTurnSegment

protected abstract TurnSegment makeTurnSegment(Pose2d pose, Angle angle)

pushPath

protected final Unit pushPath()

splineTo

public final T splineTo(Vector2d endPosition, Angle endTangent)

Adds a spline segment with tangent heading interpolation.

splineToConstantHeading

public final T splineToConstantHeading(Vector2d endPosition, Angle endTangent)

Adds a spline segment with constant heading interpolation.

splineToLinearHeading

public final T splineToLinearHeading(Pose2d endPose, Angle endTangent)

Adds a spline segment with linear heading interpolation.

splineToSplineHeading

public final T splineToSplineHeading(Pose2d endPose, Angle endTangent)

Adds a spline segment with spline heading interpolation.

strafeLeft

public final T strafeLeft(Double distance)

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

strafeRight

public final T strafeRight(Double distance)

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

strafeTo

public final T strafeTo(Vector2d endPosition)

Adds a strafe path segment.

turn

public final T turn(Angle angle)

Adds a turn segment that turns the specified angle.

wait

public final T wait(Double seconds)

Adds a wait segment that waits seconds.