SimpleTrajectoryBuilder

Builder for trajectories with static constraints.

Constructors

public SimpleTrajectoryBuilder SimpleTrajectoryBuilder(Pose2d startPose, Angle startTangent, Double maxProfileVel, Double maxProfileAccel, Double maxProfileJerk, Angle maxAngVel, Angle maxAngAccel, Angle maxAngJerk)

Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.

public SimpleTrajectoryBuilder SimpleTrajectoryBuilder(Pose2d startPose, Angle startTangent, Double maxProfileVel, Double maxProfileAccel, Double maxProfileJerk, Angle maxAngVel, Angle maxAngAccel)

Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.

public SimpleTrajectoryBuilder SimpleTrajectoryBuilder(Pose2d startPose, Angle startTangent, Double maxProfileVel, Double maxProfileAccel, Angle maxAngVel, Angle maxAngAccel)

Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.

public SimpleTrajectoryBuilder SimpleTrajectoryBuilder(Pose2d startPose, Double maxProfileVel, Double maxProfileAccel, Angle maxAngVel, Angle maxAngAccel)

Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.

public SimpleTrajectoryBuilder SimpleTrajectoryBuilder(Double maxProfileVel, Double maxProfileAccel, Angle maxAngVel, Angle maxAngAccel)

Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.

public SimpleTrajectoryBuilder SimpleTrajectoryBuilder(Pose2d startPose, Boolean reversed, Double maxProfileVel, Double maxProfileAccel, Double maxProfileJerk, Angle maxAngVel, Angle maxAngAccel, Angle maxAngJerk)

Create a builder from a start pose with a reversed tangent. This constructor is used to execute trajectories backwards.

public SimpleTrajectoryBuilder SimpleTrajectoryBuilder(Pose2d startPose, Boolean reversed, Double maxProfileVel, Double maxProfileAccel, Double maxProfileJerk, Angle maxAngVel, Angle maxAngAccel)

Create a builder from a start pose with a reversed tangent. This constructor is used to execute trajectories backwards.

public SimpleTrajectoryBuilder SimpleTrajectoryBuilder(Pose2d startPose, Boolean reversed, Double maxProfileVel, Double maxProfileAccel, Angle maxAngVel, Angle maxAngAccel)

Create a builder from a start pose with a reversed tangent. This constructor is used to execute trajectories backwards.

public SimpleTrajectoryBuilder SimpleTrajectoryBuilder(Boolean reversed, Double maxProfileVel, Double maxProfileAccel, Angle maxAngVel, Angle maxAngAccel)

Create a builder from a start pose with a reversed tangent. This constructor is used to execute trajectories backwards.

public SimpleTrajectoryBuilder SimpleTrajectoryBuilder(Trajectory trajectory, Double t, Double maxProfileVel, Double maxProfileAccel, Double maxProfileJerk, Angle maxAngVel, Angle maxAngAccel, Angle maxAngJerk)

Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one.

public SimpleTrajectoryBuilder SimpleTrajectoryBuilder(Trajectory trajectory, Double t, Double maxProfileVel, Double maxProfileAccel, Double maxProfileJerk, Angle maxAngVel, Angle maxAngAccel)

Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one.

public SimpleTrajectoryBuilder SimpleTrajectoryBuilder(Trajectory trajectory, Double t, Double maxProfileVel, Double maxProfileAccel, Angle maxAngVel, Angle maxAngAccel)

Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one.