TrajectoryGenerator
object TrajectoryGenerator
Trajectory generator for creating trajectories with dynamic and static constraints from paths.
Functions
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fun convertMarkers(segments: List<TrajectorySegment>, temporalMarkers: List<TemporalMarker>, displacementMarkers: List<DisplacementMarker>, spatialMarkers: List<SpatialMarker>): List<TrajectoryMarker>
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fun generatePathTrajectorySegment(path: Path, velocityConstraint: TrajectoryVelocityConstraint, accelerationConstraint: TrajectoryAccelerationConstraint, start: MotionState = MotionState(0.0, 0.0, 0.0), goal: MotionState = MotionState(path.length(), 0.0, 0.0), resolution: Double = 0.25): PathTrajectorySegment
Generates a dynamic constraint path trajectory segment.
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fun generateProfile(path: Path, velocityConstraint: TrajectoryVelocityConstraint, accelerationConstraint: TrajectoryAccelerationConstraint, start: MotionState, goal: MotionState, resolution: Double): MotionProfile
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fun generateSimplePathTrajectorySegment(path: Path, maxProfileVel: Double, maxProfileAccel: Double, maxProfileJerk: Double, start: MotionState = MotionState(0.0, 0.0, 0.0, 0.0), goal: MotionState = MotionState(path.length(), 0.0, 0.0, 0.0)): PathTrajectorySegment
Generates a simple constraint path trajectory segment.
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fun generateSimpleProfile(maxProfileVel: Double, maxProfileAccel: Double, maxProfileJerk: Double, start: MotionState, goal: MotionState, overshoot: Boolean = false): MotionProfile
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fun generateTrajectory(segments: List<TrajectorySegment>, temporalMarkers: List<TemporalMarker>, displacementMarkers: List<DisplacementMarker>, spatialMarkers: List<SpatialMarker>): Trajectory
Generates a trajectory.
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fun generateTurnSegment(pose: Pose2d, angle: Angle, maxAngVel: Angle, maxAngAccel: Angle, maxAngJerk: Angle, overshoot: Boolean = false): TurnSegment
Generates a turn segment.
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