Navigation/com.amarcolini.joos.trajectory/Trajectory

Trajectory

class Trajectory(val segments: List<TrajectorySegment>, val markers: List<TrajectoryMarker> = emptyList())

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

Parameters

segments

list of trajectory segments

markers

list of trajectory markers

Constructors

Trajectory

constructor(segment: TrajectorySegment, markers: List<TrajectoryMarker> = emptyList())

constructor(path: Path, profile: MotionProfile, markers: List<TrajectoryMarker> = emptyList())

constructor(segments: List<TrajectorySegment>, markers: List<TrajectoryMarker> = emptyList())

Properties

markers

val markers: List<TrajectoryMarker>

path

val path: Path

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

segments

val segments: List<TrajectorySegment>

Functions

acceleration

fun acceleration(t: Double): Pose2d

Returns the pose acceleration t seconds into the trajectory.

deriv

fun deriv(t: Double): Pose2d

Returns the pose derivative t seconds into the trajectory.

distance

fun distance(t: Double): Double

Returns the distance travelled t seconds into the trajectory.

duration

fun duration(): Double

Returns the duration of the trajectory.

end

fun end(): Pose2d

Returns the end pose.

get

operator fun get(t: Double): Pose2d

Returns the pose t seconds into the trajectory.

length

fun length(): Double

Returns the length of the trajectory.

secondDeriv

fun secondDeriv(t: Double): Pose2d

Returns the pose second derivative t seconds into the trajectory.

segment

fun segment(t: Double): Pair<TrajectorySegment, Double>

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

start

fun start(): Pose2d

Returns the start pose.

velocity

fun velocity(t: Double): Pose2d

Returns the pose velocity t seconds into the trajectory.

Trajectory

Parameters

See also

Constructors

Properties

Functions