Navigation/com.amarcolini.joos.trajectory/TrajectoryGenerator

TrajectoryGenerator

public class TrajectoryGenerator

Trajectory generator for creating trajectories with dynamic and static constraints from paths.

Properties

public final static TrajectoryGenerator INSTANCE

Functions

public final List<TrajectoryMarker> convertMarkers(List<TrajectorySegment> segments, List<TemporalMarker> temporalMarkers, List<DisplacementMarker> displacementMarkers, List<SpatialMarker> spatialMarkers)

displacementToTime

public final Double displacementToTime(Trajectory trajectory, Double s)

generatePathTrajectorySegment

@JvmOverloads()

public final PathTrajectorySegment generatePathTrajectorySegment(Path path, TrajectoryVelocityConstraint velocityConstraint, TrajectoryAccelerationConstraint accelerationConstraint)

@JvmOverloads()

public final PathTrajectorySegment generatePathTrajectorySegment(Path path, TrajectoryVelocityConstraint velocityConstraint, TrajectoryAccelerationConstraint accelerationConstraint, MotionState start)

@JvmOverloads()

public final PathTrajectorySegment generatePathTrajectorySegment(Path path, TrajectoryVelocityConstraint velocityConstraint, TrajectoryAccelerationConstraint accelerationConstraint, MotionState start, MotionState goal)

@JvmOverloads()

public final PathTrajectorySegment generatePathTrajectorySegment(Path path, TrajectoryVelocityConstraint velocityConstraint, TrajectoryAccelerationConstraint accelerationConstraint, MotionState start, MotionState goal, Double resolution)

Generates a dynamic constraint path trajectory segment.

generateProfile

public final MotionProfile generateProfile(Path path, TrajectoryVelocityConstraint velocityConstraint, TrajectoryAccelerationConstraint accelerationConstraint, MotionState start, MotionState goal, Double resolution)

generateSimplePathTrajectorySegment

@JvmOverloads()

public final PathTrajectorySegment generateSimplePathTrajectorySegment(Path path, Double maxProfileVel, Double maxProfileAccel, Double maxProfileJerk)

@JvmOverloads()

public final PathTrajectorySegment generateSimplePathTrajectorySegment(Path path, Double maxProfileVel, Double maxProfileAccel, Double maxProfileJerk, MotionState start)

@JvmOverloads()

public final PathTrajectorySegment generateSimplePathTrajectorySegment(Path path, Double maxProfileVel, Double maxProfileAccel, Double maxProfileJerk, MotionState start, MotionState goal)

Generates a simple constraint path trajectory segment.

generateSimpleProfile

public final MotionProfile generateSimpleProfile(Double maxProfileVel, Double maxProfileAccel, Double maxProfileJerk, MotionState start, MotionState goal, Boolean overshoot)

generateTrajectory

public final Trajectory generateTrajectory(List<TrajectorySegment> segments, List<TemporalMarker> temporalMarkers, List<DisplacementMarker> displacementMarkers, List<SpatialMarker> spatialMarkers)

Generates a trajectory.

generateTurnSegment

public final TurnSegment generateTurnSegment(Pose2d pose, Angle angle, Angle maxAngVel, Angle maxAngAccel, Angle maxAngJerk, Boolean overshoot)

Generates a turn segment.

public final Double pointToTime(Trajectory trajectory, Vector2d point)