Navigation/com.amarcolini.joos.trajectory/TrajectoryBuilder/TrajectoryBuilder

TrajectoryBuilder

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, Angle startTangent, TrajectoryVelocityConstraint baseVelConstraint, TrajectoryAccelerationConstraint baseAccelConstraint, Angle baseAngVel, Angle baseAngAccel, Angle baseAngJerk, Double resolution)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, Angle startTangent, TrajectoryVelocityConstraint baseVelConstraint, TrajectoryAccelerationConstraint baseAccelConstraint, Angle baseAngVel, Angle baseAngAccel, Angle baseAngJerk)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, Angle startTangent, TrajectoryVelocityConstraint baseVelConstraint, TrajectoryAccelerationConstraint baseAccelConstraint, Angle baseAngVel, Angle baseAngAccel)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, TrajectoryVelocityConstraint baseVelConstraint, TrajectoryAccelerationConstraint baseAccelConstraint, Angle baseAngVel, Angle baseAngAccel)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(TrajectoryVelocityConstraint baseVelConstraint, TrajectoryAccelerationConstraint baseAccelConstraint, Angle baseAngVel, Angle baseAngAccel)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, Angle startTangent, TrajectoryConstraints constraints, Double resolution)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, Angle startTangent, TrajectoryConstraints constraints)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, TrajectoryConstraints constraints)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(TrajectoryConstraints constraints)

Creates a builder from a start pose and tangent. This is the recommended constructor for creating trajectories from rest.

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, Boolean reversed, TrajectoryVelocityConstraint baseVelConstraint, TrajectoryAccelerationConstraint baseAccelConstraint, Angle baseAngVel, Angle baseAngAccel, Angle baseAngJerk, Double resolution)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, Boolean reversed, TrajectoryVelocityConstraint baseVelConstraint, TrajectoryAccelerationConstraint baseAccelConstraint, Angle baseAngVel, Angle baseAngAccel, Angle baseAngJerk)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, Boolean reversed, TrajectoryVelocityConstraint baseVelConstraint, TrajectoryAccelerationConstraint baseAccelConstraint, Angle baseAngVel, Angle baseAngAccel)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, Boolean reversed, TrajectoryConstraints constraints, Double resolution)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, Boolean reversed, TrajectoryConstraints constraints)

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

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Trajectory trajectory, Double t, TrajectoryVelocityConstraint baseVelConstraint, TrajectoryAccelerationConstraint baseAccelConstraint, Angle baseAngVel, Angle baseAngAccel, Angle baseAngJerk, Double resolution)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Trajectory trajectory, Double t, TrajectoryVelocityConstraint baseVelConstraint, TrajectoryAccelerationConstraint baseAccelConstraint, Angle baseAngVel, Angle baseAngAccel, Angle baseAngJerk)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Trajectory trajectory, Double t, TrajectoryVelocityConstraint baseVelConstraint, TrajectoryAccelerationConstraint baseAccelConstraint, Angle baseAngVel, Angle baseAngAccel)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Trajectory trajectory, Double t, TrajectoryConstraints constraints, Double resolution)

@JvmOverloads()

public TrajectoryBuilder TrajectoryBuilder(Trajectory trajectory, Double t, TrajectoryConstraints constraints)

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

protected TrajectoryBuilder TrajectoryBuilder(Pose2d startPose, Pose2d startDeriv, Pose2d startSecondDeriv, TrajectoryVelocityConstraint baseVelConstraint, TrajectoryAccelerationConstraint baseAccelConstraint, Angle baseAngVel, Angle baseAngAccel, Angle baseAngJerk, MotionState start, Double resolution)