core/com.acmerobotics.roadrunner.trajectories

Package-level declarations

Types

@Serializable

@SerialName(value = "CancelableTrajectory")

class CancelableTrajectory(val thisPath: PosePath, val cProfile: CancelableProfile, val offsets: List<Double>) : DisplacementTrajectory

CompositeTrajectory

@Serializable

@SerialName(value = "CompositeTrajectory")

class CompositeTrajectory @JvmOverloads constructor(val trajectories: List<DisplacementTrajectory>, val offsets: List<Double> = trajectories.scan(0.0) { acc, t -> acc + t.length() }) : Trajectory<Arclength>

ConstantPathBuilder

class ConstantPathBuilder

ConstantTrajectoryBuilder

class ConstantTrajectoryBuilder

DisplacementTrajectory

@Serializable

@SerialName(value = "DisplacementTrajectory")

open class DisplacementTrajectory(val path: PosePath, val profile: DisplacementProfile) : Trajectory<Arclength>

PathBuilder

class PathBuilder

PosePathSeqBuilder

class PosePathSeqBuilder

PositionPathSeqBuilder

class PositionPathSeqBuilder

RestrictedPathBuilder

class RestrictedPathBuilder

RestrictedPosePathBuilder

class RestrictedPosePathBuilder

Do not instantiate directly. See SafePosePathBuilder.

RestrictedTrajectoryBuilder

class RestrictedTrajectoryBuilder

SafePathBuilder

class SafePathBuilder

SafePosePathBuilder

class SafePosePathBuilder

Wrapper for PosePathSeqBuilder that provides the same guarantees without throwing PosePathSeqBuilder.RotationContinuityException.

SafeTrajectoryBuilder

class SafeTrajectoryBuilder

TangentPathBuilder

class TangentPathBuilder

TangentTrajectoryBuilder

class TangentTrajectoryBuilder

TimeTrajectory

@Serializable

@SerialName(value = "TimeTrajectory")

class TimeTrajectory(val path: PosePath, val profile: TimeProfile) : Trajectory<Time>

TimeTurn

class TimeTurn(val beginPose: Pose2d, val angle: Double, val constraints: TurnConstraints)

A time-indexed turn beginning at beginPose and rotating CCW angle radians subject to constraints.

Trajectory

interface Trajectory<Param>

TrajectoryBuilder

class TrajectoryBuilder

TrajectoryBuilderParams

data class TrajectoryBuilderParams(val arcLengthSamplingEps: Double, val profileParams: ProfileParams)

TurnConstraints

data class TurnConstraints(val maxAngVel: Double, val minAngAccel: Double, val maxAngAccel: Double)

Properties

duration

val Trajectory<*>.duration: Double

endWrtDisp

val Trajectory<Arclength>.endWrtDisp: Pose2dDual<Time>

endWrtTime

val Trajectory<Time>.endWrtTime: Pose2dDual<Time>

Functions

compose

fun compose(vararg trajectories: Trajectory<*>): CompositeTrajectory

compose

fun List<Trajectory<*>>.compose(): CompositeTrajectory