Trajectory
Constructors
Functions
Builds the specified trajectories, creating a new CancelableTrajectory object for each discontinuity. Equivalent to buildToList.
Builds the trajectory, creating a new CancelableTrajectory object for each discontinuity, and then composes them into a single CompositeTrajectory object. There may be complete stops in this composite based on where its components start and end.
Builds the specified trajectories, creating a new CancelableTrajectory object for each discontinuity.
Adds a line segment that goes forward ds.
Adds a line segment that goes to \(x\)-coordinate posX. The robot will continue traveling in the direction it is currently in; if the robot is perpendicular to the x-axis, this throws an error.
Adds a line segment that goes to \(y\)-coordinate posY. The robot will continue traveling in the direction it is currently in; if the robot is perpendicular to the y-axis, this throws an error.
Adds a line segment that goes to \(y\)-coordinate posY.
Reverses the next path segment; actually a call to setTangent(Math.PI)!
Sets the starting tangent of the next path segment. See RoadRunner docs.
Adds a curved path segment using quintic Hermite splines that goes to pose.position with an end tangent of tangent. The shape of the curve is based off of the starting position and tangent as well as the ending position and tangent. The robot's heading linearly interpolates from its current heading to pose.heading.
Adds a curved path segment using quintic Hermite splines that goes to pose.position with an end tangent of tangent. The shape of the curve is based off of the starting position and tangent as well as the ending position and tangent. The robot's heading interpolates from its current heading to pose.heading using spline interpolation.
Adds a line segment that goes to pos.