Navigation/com.amarcolini.joos.trajectory/BaseTrajectoryBuilder

BaseTrajectoryBuilder

abstract class BaseTrajectoryBuilder<T : BaseTrajectoryBuilder<T>>(startPose: Pose2d, startDeriv: Pose2d, startSecondDeriv: Pose2d)

Easy-to-use builder for creating Trajectory instances.

Parameters

startPose

start pose

startDeriv

start derivative

startSecondDeriv

start second derivative

Inheritors

Constructors

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protected constructor(startPose: Pose2d, startDeriv: Pose2d, startSecondDeriv: Pose2d)

Functions

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fun addDisplacementMarker(callback: MarkerCallback): T

Adds a marker at the current position of the trajectory.

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

Adds a marker to the trajectory at displacement.

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

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

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

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

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fun addLine(endPosition: Vector2d, headingInterpolation: HeadingInterpolation = TangentHeading): T

Adds a line segment with the specified heading interpolation.

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protected fun addPathSegment(add: () -> Unit)
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protected fun addSegment(segment: TrajectorySegment)
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fun addSpatialMarker(point: Vector2d, callback: MarkerCallback): T

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

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@JvmOverloads
fun addSpline(endPosition: Vector2d, endTangent: Angle, startTangentMag: Double = -1.0, endTangentMag: Double = -1.0, headingInterpolation: HeadingInterpolation = TangentHeading): T

Adds a spline segment with the specified heading interpolation.

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

Adds a marker to the trajectory at time.

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

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

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

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

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fun back(distance: Double): T

Adds a line straight backward.

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fun build(): Trajectory

Constructs the Trajectory instance.

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fun forward(distance: Double): T

Adds a line straight forward.

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fun lineTo(endPosition: Vector2d): T

Adds a line segment with tangent heading interpolation.

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fun lineToConstantHeading(endPosition: Vector2d): T

Adds a line segment with constant heading interpolation.

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fun lineToLinearHeading(endPose: Pose2d): T

Adds a line segment with linear heading interpolation.

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fun lineToSplineHeading(endPose: Pose2d): T

Adds a line segment with spline heading interpolation.

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protected abstract fun makePathSegment(path: Path): PathTrajectorySegment
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protected abstract fun makeTurnSegment(pose: Pose2d, angle: Angle): TurnSegment
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protected fun pushPath()
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fun splineTo(endPosition: Vector2d, endTangent: Angle): T

Adds a spline segment with tangent heading interpolation.

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

Adds a spline segment with constant heading interpolation.

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

Adds a spline segment with linear heading interpolation.

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

Adds a spline segment with spline heading interpolation.

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fun strafeLeft(distance: Double): T

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

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fun strafeRight(distance: Double): T

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

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fun strafeTo(endPosition: Vector2d): T

Adds a strafe path segment.

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fun turn(angle: Angle): T

Adds a turn segment that turns the specified angle.

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fun wait(seconds: Double): T

Adds a wait segment that waits seconds.