MeepMeep/org.rowlandhall.meepmeep.roadrunner.trajectorysequence/TrajectorySequenceBuilder

TrajectorySequenceBuilder

Builder class for creating a sequence of trajectory segments.

Constructors

constructor(startPose: Pose2d, startTangent: Double, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseTurnConstraintMaxAngVel: Double, baseTurnConstraintMaxAngAccel: Double)

Constructs a new TrajectorySequenceBuilder.

constructor(startPose: Pose2d, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseTurnConstraintMaxAngVel: Double, baseTurnConstraintMaxAngAccel: Double)

Constructs a new `TrajectorySequenceBuilder` with the specified parameters.

Functions

addDisplacementMarker

open fun addDisplacementMarker(callback: MarkerCallback): TrajectorySequenceBuilder

open fun addDisplacementMarker(displacement: DisplacementProducer, callback: MarkerCallback): TrajectorySequenceBuilder

open fun addDisplacementMarker(displacement: Double, callback: MarkerCallback): TrajectorySequenceBuilder

open fun addDisplacementMarker(scale: Double, offset: Double, callback: MarkerCallback): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

addSpatialMarker

open fun addSpatialMarker(point: Vector2d, callback: MarkerCallback): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

addTemporalMarker

open fun addTemporalMarker(callback: MarkerCallback): TrajectorySequenceBuilder

open fun addTemporalMarker(time: TimeProducer, callback: MarkerCallback): TrajectorySequenceBuilder

open fun addTemporalMarker(time: Double, callback: MarkerCallback): TrajectorySequenceBuilder

open fun addTemporalMarker(scale: Double, offset: Double, callback: MarkerCallback): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

addTemporalMarkerOffset

open fun ~~addTemporalMarkerOffset~~(offset: Double, callback: MarkerCallback): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

addTrajectory

open fun addTrajectory(trajectory: Trajectory): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

back

open fun back(distance: Double): TrajectorySequenceBuilder

open fun back(distance: Double, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

build

open fun build(): TrajectorySequence

Initializes a new path for the trajectory sequence.

forward

open fun forward(distance: Double): TrajectorySequenceBuilder

open fun forward(distance: Double, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

lineTo

open fun lineTo(endPosition: Vector2d): TrajectorySequenceBuilder

open fun lineTo(endPosition: Vector2d, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

lineToConstantHeading

open fun lineToConstantHeading(endPosition: Vector2d): TrajectorySequenceBuilder

open fun lineToConstantHeading(endPosition: Vector2d, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

lineToLinearHeading

open fun lineToLinearHeading(endPose: Pose2d): TrajectorySequenceBuilder

open fun lineToLinearHeading(endPose: Pose2d, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

lineToSplineHeading

open fun lineToSplineHeading(endPose: Pose2d): TrajectorySequenceBuilder

open fun lineToSplineHeading(endPose: Pose2d, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

resetAccelConstraint

open fun resetAccelConstraint(): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

resetConstraints

open fun resetConstraints(): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

resetTurnConstraint

open fun resetTurnConstraint(): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

resetVelConstraint

open fun resetVelConstraint(): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

setAccelConstraint

open fun setAccelConstraint(accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

setConstraints

open fun setConstraints(velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

setReversed

open fun setReversed(reversed: Boolean): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

setTangent

open fun setTangent(tangent: Double): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

setTurnConstraint

open fun setTurnConstraint(maxAngVel: Double, maxAngAccel: Double): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

setVelConstraint

open fun setVelConstraint(velConstraint: TrajectoryVelocityConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

splineTo

open fun splineTo(endPosition: Vector2d, endHeading: Double): TrajectorySequenceBuilder

open fun splineTo(endPosition: Vector2d, endHeading: Double, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

splineToConstantHeading

open fun splineToConstantHeading(endPosition: Vector2d, endHeading: Double): TrajectorySequenceBuilder

open fun splineToConstantHeading(endPosition: Vector2d, endHeading: Double, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

splineToLinearHeading

open fun splineToLinearHeading(endPose: Pose2d, endHeading: Double): TrajectorySequenceBuilder

open fun splineToLinearHeading(endPose: Pose2d, endHeading: Double, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

splineToSplineHeading

open fun splineToSplineHeading(endPose: Pose2d, endHeading: Double): TrajectorySequenceBuilder

open fun splineToSplineHeading(endPose: Pose2d, endHeading: Double, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

strafeLeft

open fun strafeLeft(distance: Double): TrajectorySequenceBuilder

open fun strafeLeft(distance: Double, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

strafeRight

open fun strafeRight(distance: Double): TrajectorySequenceBuilder

open fun strafeRight(distance: Double, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

strafeTo

open fun strafeTo(endPosition: Vector2d): TrajectorySequenceBuilder

open fun strafeTo(endPosition: Vector2d, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

turn

open fun turn(angle: Double): TrajectorySequenceBuilder

open fun turn(angle: Double, maxAngVel: Double, maxAngAccel: Double): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

UNSTABLE_addDisplacementMarkerOffset

open fun UNSTABLE_addDisplacementMarkerOffset(offset: Double, callback: MarkerCallback): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.

waitSeconds

open fun waitSeconds(seconds: Double): TrajectorySequenceBuilder

For documentation on this function, see the Roadrunner documentation.