Command/com.amarcolini.joos.hardware.drive/TrajectoryCommandBuilder

TrajectoryCommandBuilder

class TrajectoryCommandBuilder

Constructors

constructor(drive: DriveTrajectoryFollower, startPose: Pose2d, startTangent: Angle)

constructor(drive: DriveTrajectoryFollower, startPose: Pose2d, reversed: Boolean)

constructor(drive: DriveTrajectoryFollower)

Functions

addAccelConstraints

@JvmOverloads

fun addAccelConstraints(accelConstraint: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds the provided acceleration constraints for the following path segments.

addAngularConstraints

@JvmOverloads

fun addAngularConstraints(angVel: Angle, angAccel: Angle = Double.POSITIVE_INFINITY.rad, angJerk: Angle = Double.POSITIVE_INFINITY.rad): TrajectoryCommandBuilder

Adds the provided angular constraints for the following turn segments.

addConstraints

fun addConstraints(constraints: TrajectoryConstraints): TrajectoryCommandBuilder

Adds the provided constraints to the following path and turn segments.

@JvmOverloads

fun addConstraints(velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds the provided constraints for the following path segments.

addDisplacementMarker

fun addDisplacementMarker(callback: MarkerCallback): TrajectoryCommandBuilder

Adds a marker at the current position of the trajectory.

fun addDisplacementMarker(displacement: Double, callback: MarkerCallback): TrajectoryCommandBuilder

Adds a marker to the trajectory at displacement.

fun addDisplacementMarker(displacement: (Double) -> Double, callback: MarkerCallback): TrajectoryCommandBuilder

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

fun addDisplacementMarker(scale: Double, offset: Double, callback: MarkerCallback): TrajectoryCommandBuilder

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

addSpatialMarker

fun addSpatialMarker(point: Vector2d, callback: MarkerCallback): TrajectoryCommandBuilder

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

addTemporalMarker

fun addTemporalMarker(time: Double, callback: MarkerCallback): TrajectoryCommandBuilder

Adds a marker to the trajectory at time.

fun addTemporalMarker(time: (Double) -> Double, callback: MarkerCallback): TrajectoryCommandBuilder

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

fun addTemporalMarker(scale: Double, offset: Double, callback: MarkerCallback): TrajectoryCommandBuilder

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

addVelocityConstraints

fun addVelocityConstraints(velConstraint: TrajectoryVelocityConstraint): TrajectoryCommandBuilder

Adds the provided velocity constraints for the following path segments.

back

fun back(distance: Double): TrajectoryCommandBuilder

@JvmOverloads

fun back(distance: Double, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds a line straight backward.

build

fun build(): Trajectory

Constructs the Trajectory instance.

forward

fun forward(distance: Double): TrajectoryCommandBuilder

@JvmOverloads

fun forward(distance: Double, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds a line straight forward.

lineTo

fun lineTo(endPosition: Vector2d): TrajectoryCommandBuilder

@JvmOverloads

fun lineTo(endPosition: Vector2d, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds a line segment with tangent heading interpolation.

lineToConstantHeading

fun lineToConstantHeading(endPosition: Vector2d): TrajectoryCommandBuilder

@JvmOverloads

fun lineToConstantHeading(endPosition: Vector2d, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds a line segment with constant heading interpolation.

lineToLinearHeading

fun lineToLinearHeading(endPose: Pose2d): TrajectoryCommandBuilder

@JvmOverloads

fun lineToLinearHeading(endPose: Pose2d, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds a line segment with linear heading interpolation.

lineToSplineHeading

fun lineToSplineHeading(endPose: Pose2d): TrajectoryCommandBuilder

@JvmOverloads

fun lineToSplineHeading(endPose: Pose2d, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds a line segment with spline heading interpolation.

resetAllConstraints

fun resetAllConstraints(): TrajectoryCommandBuilder

Resets all constraints to the default constructor-provided values.

resetAngularConstraints

fun resetAngularConstraints(): TrajectoryCommandBuilder

Resets the angular constraints to the default constructor-provided values.

resetConstraints

fun resetConstraints(): TrajectoryCommandBuilder

Resets the path constraints to the default constructor-provided values.

setAccelConstraints

fun setAccelConstraints(accelConstraintOverride: TrajectoryAccelerationConstraint): TrajectoryCommandBuilder

Sets the acceleration constraints for the following path segments.

setAngularConstraints

@JvmOverloads

fun setAngularConstraints(angVelOverride: Angle, angAccelOverride: Angle = builder.baseAngAccel, angJerkOverride: Angle = builder.baseAngJerk): TrajectoryCommandBuilder

Sets the angular constraints for the following turn segments.

setConstraints

fun setConstraints(constraints: TrajectoryConstraints): TrajectoryCommandBuilder

Sets the constraints for the following segments using the provided constraints. Sets both the path and angular constraints.

fun setConstraints(velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint): TrajectoryCommandBuilder

Sets the constraints for the following path segments.

setVelocityConstraints

fun setVelocityConstraints(velConstraintOverride: TrajectoryVelocityConstraint): TrajectoryCommandBuilder

Sets the velocity constraints for the following path segments.

splineTo

fun splineTo(endPosition: Vector2d, endTangent: Angle): TrajectoryCommandBuilder

@JvmOverloads

fun splineTo(endPosition: Vector2d, endTangent: Angle, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds a spline segment with tangent heading interpolation.

splineToConstantHeading

fun splineToConstantHeading(endPosition: Vector2d, endTangent: Angle): TrajectoryCommandBuilder

@JvmOverloads

fun splineToConstantHeading(endPosition: Vector2d, endTangent: Angle, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds a spline segment with constant heading interpolation.

splineToLinearHeading

fun splineToLinearHeading(endPose: Pose2d, endTangent: Angle): TrajectoryCommandBuilder

@JvmOverloads

fun splineToLinearHeading(endPose: Pose2d, endTangent: Angle, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds a spline segment with linear heading interpolation.

splineToSplineHeading

fun splineToSplineHeading(endPose: Pose2d, endTangent: Angle): TrajectoryCommandBuilder

@JvmOverloads

fun splineToSplineHeading(endPose: Pose2d, endTangent: Angle, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds a spline segment with spline heading interpolation.

strafeLeft

fun strafeLeft(distance: Double): TrajectoryCommandBuilder

@JvmOverloads

fun strafeLeft(distance: Double, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

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

strafeRight

fun strafeRight(distance: Double): TrajectoryCommandBuilder

@JvmOverloads

fun strafeRight(distance: Double, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

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

strafeTo

fun strafeTo(endPosition: Vector2d): TrajectoryCommandBuilder

@JvmOverloads

fun strafeTo(endPosition: Vector2d, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = builder.baseAccelConstraint): TrajectoryCommandBuilder

Adds a strafe path segment.

turn

fun turn(angle: Angle): TrajectoryCommandBuilder

Adds a turn segment that turns the specified angle.

@JvmOverloads

fun turn(angle: Angle, angVelOverride: Angle, angAccelOverride: Angle = builder.baseAngAccel, angJerkOverride: Angle = builder.baseAngJerk): TrajectoryCommandBuilder

Adds a turn segment that turns angle degrees.

wait

fun wait(seconds: Double): TrajectoryCommandBuilder

Adds a wait segment that waits seconds.