Navigation/com.amarcolini.joos.trajectory/Trajectory

Trajectory

public final class Trajectory

Trajectory composed of a list of trajectory segments and trajectory markers.

Parameters

segments

list of trajectory segments

markers

list of trajectory markers

Constructors

Trajectory

public Trajectory Trajectory(TrajectorySegment segment, List<TrajectoryMarker> markers)

public Trajectory Trajectory(Path path, MotionProfile profile, List<TrajectoryMarker> markers)

public Trajectory Trajectory(List<TrajectorySegment> segments, List<TrajectoryMarker> markers)

Properties

markers

private final List<TrajectoryMarker> markers

path

private final Path path

The path representing this trajectory, excluding turn and wait segments.

segments

private final List<TrajectorySegment> segments

Functions

acceleration

public final Pose2d acceleration(Double t)

Returns the pose acceleration t seconds into the trajectory.

deriv

public final Pose2d deriv(Double t)

Returns the pose derivative t seconds into the trajectory.

distance

public final Double distance(Double t)

Returns the distance travelled t seconds into the trajectory.

duration

public final Double duration()

Returns the duration of the trajectory.

end

public final Pose2d end()

Returns the end pose.

get

public final Pose2d get(Double t)

Returns the pose t seconds into the trajectory.

getMarkers

public final List<TrajectoryMarker> getMarkers()

getPath

public final Path getPath()

The path representing this trajectory, excluding turn and wait segments.

getSegments

public final List<TrajectorySegment> getSegments()

length

public final Double length()

Returns the length of the trajectory.

secondDeriv

public final Pose2d secondDeriv(Double t)

Returns the pose second derivative t seconds into the trajectory.

segment

public final Pair<TrajectorySegment, Double> segment(Double t)

Returns a pair containing the TrajectorySegment at t seconds along the path and the duration along that segment.

start

public final Pose2d start()

Returns the start pose.

velocity

public final Pose2d velocity(Double t)

Returns the pose velocity t seconds into the trajectory.

Trajectory

Parameters

See also

Constructors

Properties

Functions