Navigation/com.amarcolini.joos.trajectory/TrajectoryBuilder

TrajectoryBuilder

open class TrajectoryBuilder(startPose: Pose2d, startDeriv: Pose2d, startSecondDeriv: Pose2d, val baseVelConstraint: TrajectoryVelocityConstraint, val baseAccelConstraint: TrajectoryAccelerationConstraint, val baseAngVel: Angle, val baseAngAccel: Angle, val baseAngJerk: Angle, start: MotionState, resolution: Double) : BaseTrajectoryBuilder<TrajectoryBuilder>

Builder for trajectories with dynamic constraints.

Constructors

TrajectoryBuilder

@JvmOverloads

constructor(startPose: Pose2d = Pose2d(), startTangent: Angle = startPose.heading, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseAngVel: Angle, baseAngAccel: Angle, baseAngJerk: Angle = 0.rad, resolution: Double = 0.25)

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

@JvmOverloads

constructor(startPose: Pose2d = Pose2d(), startTangent: Angle = startPose.heading, constraints: TrajectoryConstraints, resolution: Double = 0.25)

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

@JvmOverloads

constructor(startPose: Pose2d, reversed: Boolean, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseAngVel: Angle, baseAngAccel: Angle, baseAngJerk: Angle = 0.rad, resolution: Double = 0.25)

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

@JvmOverloads

constructor(startPose: Pose2d, reversed: Boolean, constraints: TrajectoryConstraints, resolution: Double = 0.25)

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

@JvmOverloads

constructor(trajectory: Trajectory, t: Double, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseAngVel: Angle, baseAngAccel: Angle, baseAngJerk: Angle = 0.rad, resolution: Double = 0.25)

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

@JvmOverloads

constructor(trajectory: Trajectory, t: Double, constraints: TrajectoryConstraints, resolution: Double = 0.25)

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

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

Properties

baseAccelConstraint

@JvmField

val baseAccelConstraint: TrajectoryAccelerationConstraint

baseAngAccel

@JvmField

val baseAngAccel: Angle

baseAngJerk

@JvmField

val baseAngJerk: Angle

baseAngVel

@JvmField

val baseAngVel: Angle

baseVelConstraint

@JvmField

val baseVelConstraint: TrajectoryVelocityConstraint

Functions

addAccelConstraints

fun addAccelConstraints(accelConstraint: TrajectoryAccelerationConstraint): TrajectoryBuilder

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): TrajectoryBuilder

Adds the provided angular constraints for the following turn segments.

addConstraints

fun addConstraints(constraints: TrajectoryConstraints): TrajectoryBuilder

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

fun addConstraints(velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectoryBuilder

Adds the provided constraints for the following path segments.

addLine

@JvmOverloads

fun addLine(endPosition: Vector2d, headingInterpolation: HeadingInterpolation = TangentHeading, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = baseAccelConstraint): TrajectoryBuilder

Adds a line segment with the specified heading interpolation.

addSpline

@JvmOverloads

fun addSpline(endPosition: Vector2d, endTangent: Angle, startTangentMag: Double = -1.0, endTangentMag: Double = -1.0, headingInterpolation: HeadingInterpolation = TangentHeading, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = baseAccelConstraint): TrajectoryBuilder

Adds a spline segment with the specified heading interpolation.

addVelocityConstraints

fun addVelocityConstraints(velConstraint: TrajectoryVelocityConstraint): TrajectoryBuilder

Adds the provided velocity constraints for the following path segments.

back

@JvmOverloads

fun back(distance: Double, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = baseAccelConstraint): TrajectoryBuilder

Adds a line straight backward.

forward

@JvmOverloads

fun forward(distance: Double, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = baseAccelConstraint): TrajectoryBuilder

Adds a line straight forward.

lineTo

@JvmOverloads

fun lineTo(endPosition: Vector2d, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = baseAccelConstraint): TrajectoryBuilder

Adds a line segment with tangent heading interpolation.

lineToConstantHeading

@JvmOverloads

fun lineToConstantHeading(endPosition: Vector2d, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = baseAccelConstraint): TrajectoryBuilder

Adds a line segment with constant heading interpolation.

lineToLinearHeading

@JvmOverloads

fun lineToLinearHeading(endPose: Pose2d, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = baseAccelConstraint): TrajectoryBuilder

Adds a line segment with linear heading interpolation.

lineToSplineHeading

@JvmOverloads

fun lineToSplineHeading(endPose: Pose2d, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = baseAccelConstraint): TrajectoryBuilder

Adds a line segment with spline heading interpolation.

makePathSegment

protected open override fun makePathSegment(path: Path): PathTrajectorySegment

makeTurnSegment

protected open override fun makeTurnSegment(pose: Pose2d, angle: Angle): TurnSegment

resetAllConstraints

fun resetAllConstraints(): TrajectoryBuilder

Resets all constraints to the default constructor-provided values.

resetAngularConstraints

fun resetAngularConstraints(): TrajectoryBuilder

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

resetConstraints

fun resetConstraints(): TrajectoryBuilder

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

setAccelConstraints

fun setAccelConstraints(accelConstraintOverride: TrajectoryAccelerationConstraint): TrajectoryBuilder

Sets the acceleration constraints for the following path segments.

setAngularConstraints

@JvmOverloads

fun setAngularConstraints(angVelOverride: Angle, angAccelOverride: Angle = baseAngAccel, angJerkOverride: Angle = baseAngJerk): TrajectoryBuilder

Sets the angular constraints for the following turn segments.

setConstraints

fun setConstraints(constraints: TrajectoryConstraints): TrajectoryBuilder

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

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

Sets the constraints for the following path segments.

setVelocityConstraints

fun setVelocityConstraints(velConstraintOverride: TrajectoryVelocityConstraint): TrajectoryBuilder

Sets the velocity constraints for the following path segments.

splineTo

@JvmOverloads

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

Adds a spline segment with tangent heading interpolation.

splineToConstantHeading

@JvmOverloads

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

Adds a spline segment with constant heading interpolation.

splineToLinearHeading

@JvmOverloads

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

Adds a spline segment with linear heading interpolation.

splineToSplineHeading

@JvmOverloads

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

Adds a spline segment with spline heading interpolation.

strafeLeft

@JvmOverloads

fun strafeLeft(distance: Double, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = baseAccelConstraint): TrajectoryBuilder

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

strafeRight

@JvmOverloads

fun strafeRight(distance: Double, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = baseAccelConstraint): TrajectoryBuilder

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

strafeTo

@JvmOverloads

fun strafeTo(endPosition: Vector2d, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = baseAccelConstraint): TrajectoryBuilder

Adds a strafe path segment.

turn

@JvmOverloads

fun turn(angle: Angle, angVelOverride: Angle, angAccelOverride: Angle = baseAngAccel, angJerkOverride: Angle = baseAngJerk): TrajectoryBuilder

Adds a turn segment that turns angle degrees.