Package org.firstinspires.ftc.teamcode.fy23.roadrunner.trajectorysequence

Class TrajectorySequenceBuilder

java.lang.Object
org.firstinspires.ftc.teamcode.fy23.roadrunner.trajectorysequence.TrajectorySequenceBuilder
public class TrajectorySequenceBuilder extends Object

  • Constructor Details

    • TrajectorySequenceBuilder

      public TrajectorySequenceBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose, Double startTangent, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint baseVelConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint baseAccelConstraint, double baseTurnConstraintMaxAngVel, double baseTurnConstraintMaxAngAccel)

    • TrajectorySequenceBuilder

      public TrajectorySequenceBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint baseVelConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint baseAccelConstraint, double baseTurnConstraintMaxAngVel, double baseTurnConstraintMaxAngAccel)

  • Method Details

    • lineTo

      public TrajectorySequenceBuilder lineTo(com.acmerobotics.roadrunner.geometry.Vector2d endPosition)

    • lineTo

      public TrajectorySequenceBuilder lineTo(com.acmerobotics.roadrunner.geometry.Vector2d endPosition, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • lineToConstantHeading

      public TrajectorySequenceBuilder lineToConstantHeading(com.acmerobotics.roadrunner.geometry.Vector2d endPosition)

    • lineToConstantHeading

      public TrajectorySequenceBuilder lineToConstantHeading(com.acmerobotics.roadrunner.geometry.Vector2d endPosition, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • lineToLinearHeading

      public TrajectorySequenceBuilder lineToLinearHeading(com.acmerobotics.roadrunner.geometry.Pose2d endPose)

    • lineToLinearHeading

      public TrajectorySequenceBuilder lineToLinearHeading(com.acmerobotics.roadrunner.geometry.Pose2d endPose, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • lineToSplineHeading

      public TrajectorySequenceBuilder lineToSplineHeading(com.acmerobotics.roadrunner.geometry.Pose2d endPose)

    • lineToSplineHeading

      public TrajectorySequenceBuilder lineToSplineHeading(com.acmerobotics.roadrunner.geometry.Pose2d endPose, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • strafeTo

      public TrajectorySequenceBuilder strafeTo(com.acmerobotics.roadrunner.geometry.Vector2d endPosition)

    • strafeTo

      public TrajectorySequenceBuilder strafeTo(com.acmerobotics.roadrunner.geometry.Vector2d endPosition, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • forward

      public TrajectorySequenceBuilder forward(double distance)

    • forward

      public TrajectorySequenceBuilder forward(double distance, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • back

      public TrajectorySequenceBuilder back(double distance)

    • back

      public TrajectorySequenceBuilder back(double distance, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • strafeLeft

      public TrajectorySequenceBuilder strafeLeft(double distance)

    • strafeLeft

      public TrajectorySequenceBuilder strafeLeft(double distance, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • strafeRight

      public TrajectorySequenceBuilder strafeRight(double distance)

    • strafeRight

      public TrajectorySequenceBuilder strafeRight(double distance, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • splineTo

      public TrajectorySequenceBuilder splineTo(com.acmerobotics.roadrunner.geometry.Vector2d endPosition, double endHeading)

    • splineTo

      public TrajectorySequenceBuilder splineTo(com.acmerobotics.roadrunner.geometry.Vector2d endPosition, double endHeading, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • splineToConstantHeading

      public TrajectorySequenceBuilder splineToConstantHeading(com.acmerobotics.roadrunner.geometry.Vector2d endPosition, double endHeading)

    • splineToConstantHeading

      public TrajectorySequenceBuilder splineToConstantHeading(com.acmerobotics.roadrunner.geometry.Vector2d endPosition, double endHeading, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • splineToLinearHeading

      public TrajectorySequenceBuilder splineToLinearHeading(com.acmerobotics.roadrunner.geometry.Pose2d endPose, double endHeading)

    • splineToLinearHeading

      public TrajectorySequenceBuilder splineToLinearHeading(com.acmerobotics.roadrunner.geometry.Pose2d endPose, double endHeading, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • splineToSplineHeading

      public TrajectorySequenceBuilder splineToSplineHeading(com.acmerobotics.roadrunner.geometry.Pose2d endPose, double endHeading)

    • splineToSplineHeading

      public TrajectorySequenceBuilder splineToSplineHeading(com.acmerobotics.roadrunner.geometry.Pose2d endPose, double endHeading, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • setTangent

      public TrajectorySequenceBuilder setTangent(double tangent)

    • setReversed

      public TrajectorySequenceBuilder setReversed(boolean reversed)

    • setConstraints

      public TrajectorySequenceBuilder setConstraints(com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint, com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • resetConstraints

      public TrajectorySequenceBuilder resetConstraints()

    • setVelConstraint

      public TrajectorySequenceBuilder setVelConstraint(com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint)

    • resetVelConstraint

      public TrajectorySequenceBuilder resetVelConstraint()

    • setAccelConstraint

      public TrajectorySequenceBuilder setAccelConstraint(com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint)

    • resetAccelConstraint

      public TrajectorySequenceBuilder resetAccelConstraint()

    • setTurnConstraint

      public TrajectorySequenceBuilder setTurnConstraint(double maxAngVel, double maxAngAccel)

    • resetTurnConstraint

      public TrajectorySequenceBuilder resetTurnConstraint()

    • addTemporalMarker

      public TrajectorySequenceBuilder addTemporalMarker(com.acmerobotics.roadrunner.trajectory.MarkerCallback callback)

    • UNSTABLE_addTemporalMarkerOffset

      public TrajectorySequenceBuilder UNSTABLE_addTemporalMarkerOffset(double offset, com.acmerobotics.roadrunner.trajectory.MarkerCallback callback)

    • addTemporalMarker

      public TrajectorySequenceBuilder addTemporalMarker(double time, com.acmerobotics.roadrunner.trajectory.MarkerCallback callback)

    • addTemporalMarker

      public TrajectorySequenceBuilder addTemporalMarker(double scale, double offset, com.acmerobotics.roadrunner.trajectory.MarkerCallback callback)

    • addTemporalMarker

      public TrajectorySequenceBuilder addTemporalMarker(com.acmerobotics.roadrunner.trajectory.TimeProducer time, com.acmerobotics.roadrunner.trajectory.MarkerCallback callback)

    • addSpatialMarker

      public TrajectorySequenceBuilder addSpatialMarker(com.acmerobotics.roadrunner.geometry.Vector2d point, com.acmerobotics.roadrunner.trajectory.MarkerCallback callback)

    • addDisplacementMarker

      public TrajectorySequenceBuilder addDisplacementMarker(com.acmerobotics.roadrunner.trajectory.MarkerCallback callback)

    • UNSTABLE_addDisplacementMarkerOffset

      public TrajectorySequenceBuilder UNSTABLE_addDisplacementMarkerOffset(double offset, com.acmerobotics.roadrunner.trajectory.MarkerCallback callback)

    • addDisplacementMarker

      public TrajectorySequenceBuilder addDisplacementMarker(double displacement, com.acmerobotics.roadrunner.trajectory.MarkerCallback callback)

    • addDisplacementMarker

      public TrajectorySequenceBuilder addDisplacementMarker(double scale, double offset, com.acmerobotics.roadrunner.trajectory.MarkerCallback callback)

    • addDisplacementMarker

      public TrajectorySequenceBuilder addDisplacementMarker(com.acmerobotics.roadrunner.trajectory.DisplacementProducer displacement, com.acmerobotics.roadrunner.trajectory.MarkerCallback callback)

    • turn

      public TrajectorySequenceBuilder turn(double angle)

    • turn

      public TrajectorySequenceBuilder turn(double angle, double maxAngVel, double maxAngAccel)

    • waitSeconds

      public TrajectorySequenceBuilder waitSeconds(double seconds)

    • addTrajectory

      public TrajectorySequenceBuilder addTrajectory(com.acmerobotics.roadrunner.trajectory.Trajectory trajectory)

    • build

      public TrajectorySequence build()