Navigation/com.amarcolini.joos.trajectory

Package-level declarations

Trajectory definitions

Types

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

Easy-to-use builder for creating Trajectory instances.

DisplacementMarker

data class DisplacementMarker(val producer: DisplacementProducer, val callback: MarkerCallback)

Trajectory marker that is triggered when the specified displacement passes.

DisplacementProducer

fun interface DisplacementProducer

SAM interface that produces a marker absolute displacement offset from the trajectory length.

MarkerCallback

fun interface MarkerCallback

SAM interface for marker callbacks.

PathTrajectorySegment

class PathTrajectorySegment(val path: Path, val profile: MotionProfile) : TrajectorySegment

Trajectory segment backed by a Path and a MotionProfile.

SimpleTrajectoryBuilder

class SimpleTrajectoryBuilder : BaseTrajectoryBuilder<SimpleTrajectoryBuilder>

Builder for trajectories with static constraints.

SpatialMarker

data class SpatialMarker(val point: Vector2d, val callback: MarkerCallback)

Trajectory marker that is triggered when the trajectory passes the specified point.

TemporalMarker

data class TemporalMarker(val producer: TimeProducer, val callback: MarkerCallback)

Trajectory marker that is triggered when the specified time passes.

TimeProducer

fun interface TimeProducer

SAM interface that produces a marker absolute time offset from the trajectory duration.

Trajectory

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

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

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.

TrajectoryGenerator

object TrajectoryGenerator

Trajectory generator for creating trajectories with dynamic and static constraints from paths.

TrajectoryMarker

data class TrajectoryMarker(val time: Double, val callback: MarkerCallback)

Trajectory marker that is triggered when the specified time passes.

TrajectorySegment

interface TrajectorySegment

Generic trajectory segment.

TurnSegment

class TurnSegment(pose: Pose2d, profile: MotionProfile) : TrajectorySegment

Trajectory segment representing a point turn.

WaitSegment

class WaitSegment(pose: Pose2d, duration: Double) : TrajectorySegment

Static trajectory segment that holds a constant pose.