com.arcrobotics.ftclib.purepursuit.waypoints

Class GeneralWaypoint

java.lang.Object

com.arcrobotics.ftclib.geometry.Pose2d

com.arcrobotics.ftclib.purepursuit.waypoints.GeneralWaypoint

All Implemented Interfaces:

Waypoint

Direct Known Subclasses:

PointTurnWaypoint

public class GeneralWaypoint
extends Pose2d
implements Waypoint

A general waypoint is the most common type of Waypoint. This waypoint acts like a conventional pure pursuit waypoint, with the robot simply traversing it. Most other types of waypoints are sub classes of this.

See Also:

Waypoint

Constructor Summary

Constructors

Constructor and Description
GeneralWaypoint() Constructs a GeneralWaypoint.
GeneralWaypoint(double x, double y)
GeneralWaypoint(double x, double y, double movementSpeed, double turnSpeed, double followRadius) Constructs a GeneralWaypoint with the provided values.
GeneralWaypoint(double x, double y, double rotationRadians, double movementSpeed, double turnSpeed, double followRadius) Constructs a GeneralWaypoint with the provided values.
GeneralWaypoint(Pose2d pose, double movementSpeed, double turnSpeed, double followRadius) Constructs a GeneralWaypoint with the provided values.
GeneralWaypoint(Translation2d translation, Rotation2d rotation, double movementSpeed, double turnSpeed, double followRadius) Constructs a GeneralWaypoint with the provided values.

Method Summary

Modifier and Type	Method and Description
GeneralWaypoint	disablePreferredAngle() Disables this waypoint's preferredAngle.
double	getFollowDistance() Returns the follow distance for this waypoint.
double	getFollowRadius() Returns the follow radius of this waypoint.
double	getMovementSpeed() Returns the movement speed of this waypoint.
Pose2d	getPose() Returns this Waypoint's position.
double	getPreferredAngle() Returns this waypoint's preferred angle (in radians).
long	getTimeout() Returns the timeout period of this waypoint.
double	getTurnSpeed() Returns the turn speed of this waypoint.
WaypointType	getType() Returns this WayPoint's type.
void	inherit(Waypoint waypoint) Copies configuration from the given waypoint.
protected double	normalizeSpeed(double raw) Normalizes the given double to in the range [0, 1].
void	reset() Resets this waypoint.
GeneralWaypoint	setFollowRadius(double followRadius) Sets the follow radius of this waypoint.
GeneralWaypoint	setMovementSpeed(double movementSpeed) Sets the movement speed of this waypoint.
GeneralWaypoint	setPreferredAngle(double angle) Sets and enables this waypoint's preferred angle.
GeneralWaypoint	setTimeout(long timeoutMiliseconds) Sets the timeout period of this waypoint.
GeneralWaypoint	setTurnSpeed(double turnSpeed) Sets the turn speed of this waypoint.
java.lang.String	toString()
boolean	usingPreferredAngle() Returns true if this waypoint is using a preferred angle.

Methods inherited from class com.arcrobotics.ftclib.geometry.Pose2d

equals, exp, getHeading, getRotation, getTranslation, getX, getY, log, minus, plus, relativeTo, rotate, transformBy

Methods inherited from class java.lang.Object

clone, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

GeneralWaypoint

public GeneralWaypoint()

Constructs a GeneralWaypoint. All values are set to their default.

GeneralWaypoint

public GeneralWaypoint(double x,
                       double y)

GeneralWaypoint

public GeneralWaypoint(Translation2d translation,
                       Rotation2d rotation,
                       double movementSpeed,
                       double turnSpeed,
                       double followRadius)

Constructs a GeneralWaypoint with the provided values.

Parameters:

translation - The (x, y) translation of this waypoint.

rotation - The rotation (preferred angle) of this waypoint.

movementSpeed - The speed in which the robot moves at while traversing this waypoint, in the range [0, 1].

turnSpeed - The speed in which the robot turns at while traversing this waypoint, in the range [0, 1].

followRadius - The distance in which the robot traverses this waypoint. Please see guides to learn more about this value.

GeneralWaypoint

public GeneralWaypoint(Pose2d pose,
                       double movementSpeed,
                       double turnSpeed,
                       double followRadius)

Constructs a GeneralWaypoint with the provided values.

Parameters:

pose - Position and rotation (preferred angle) of this waypoint.

movementSpeed - The speed in which the robot moves at while traversing this waypoint, in the range [0, 1].

turnSpeed - The speed in which the robot turns at while traversing this waypoint, in the range [0, 1].

followRadius - The distance in which the robot traverses this waypoint. Please see guides to learn more about this value.

GeneralWaypoint

public GeneralWaypoint(double x,
                       double y,
                       double movementSpeed,
                       double turnSpeed,
                       double followRadius)

Constructs a GeneralWaypoint with the provided values.

Parameters:

x - The x position of this waypoint.

y - The y position of this waypoint.

movementSpeed - The speed in which the robot moves at while traversing this waypoint, in the range [0, 1].

turnSpeed - The speed in which the robot turns at while traversing this waypoint, in the range [0, 1].

followRadius - The distance in which the robot traverses this waypoint. Please see guides to learn more about this value.

GeneralWaypoint

public GeneralWaypoint(double x,
                       double y,
                       double rotationRadians,
                       double movementSpeed,
                       double turnSpeed,
                       double followRadius)

Constructs a GeneralWaypoint with the provided values.

Parameters:

x - The x position of this waypoint.

y - The y position of this waypoint.

rotationRadians - The rotation (preferred angle) of this waypoint (in radians).

movementSpeed - The speed in which the robot moves at while traversing this waypoint, in the range [0, 1].

turnSpeed - The speed in which the robot turns at while traversing this waypoint, in the range [0, 1].

followRadius - The distance in which the robot traverses this waypoint. Please see guides to learn more about this value.

Method Detail

getMovementSpeed

public double getMovementSpeed()

Returns the movement speed of this waypoint.

Returns:

the movement speed of this waypoint.

getTurnSpeed

public double getTurnSpeed()

Returns the turn speed of this waypoint.

Returns:

the turn speed of this waypoint.

getFollowRadius

public double getFollowRadius()

Returns the follow radius of this waypoint.

Returns:

the follow radius of this waypoint.

getPreferredAngle

public double getPreferredAngle()

Returns this waypoint's preferred angle (in radians).

Returns:

this waypoint's preferred angle (in radians).

Throws:

java.lang.IllegalStateException - If this waypoint is not using a preferred angle.

usingPreferredAngle

public boolean usingPreferredAngle()

Returns true if this waypoint is using a preferred angle.

Returns:

true if this waypoint is using a preferred angle, false otherwise.

setMovementSpeed

public GeneralWaypoint setMovementSpeed(double movementSpeed)

Sets the movement speed of this waypoint.

Parameters:

movementSpeed - Speed to set.

Returns:

This GeneralWaypoint, used for chaining methods.

setTurnSpeed

public GeneralWaypoint setTurnSpeed(double turnSpeed)

Sets the turn speed of this waypoint.

Parameters:

turnSpeed - Speed to be set.

Returns:

This GeneralWaypoint, used for chaining methods.

setFollowRadius

public GeneralWaypoint setFollowRadius(double followRadius)

Sets the follow radius of this waypoint.

Parameters:

followRadius - Radius to be set.

Returns:

This GeneralWaypoint, used for chaining methods.

setPreferredAngle

public GeneralWaypoint setPreferredAngle(double angle)

Sets and enables this waypoint's preferred angle.

Parameters:

angle - Angle to be set.

Returns:

This GeneralWaypoint, used for chaining methods.

setTimeout

public GeneralWaypoint setTimeout(long timeoutMiliseconds)

Sets the timeout period of this waypoint. This is optional.

Parameters:

timeoutMiliseconds - The timeout period of this waypoint.

Returns:

This GeneralWaypoint, used for chaining methods.

disablePreferredAngle

public GeneralWaypoint disablePreferredAngle()

Disables this waypoint's preferredAngle. This is disabled by default.

Returns:

This GeneralWaypoint, used for chaining methods.

reset

public void reset()

Resets this waypoint. This is called by Path.

normalizeSpeed

protected double normalizeSpeed(double raw)

Normalizes the given double to in the range [0, 1].

Parameters:

raw - Value to be normalized.

Returns:

Normalized value.

inherit

public void inherit(Waypoint waypoint)

Copies configuration from the given waypoint. Does nothing if copy mode is disabled.

Parameters:

waypoint - Waypoint to copy.

getType

public WaypointType getType()

Description copied from interface: Waypoint

Returns this WayPoint's type.

Specified by:

getType in interface Waypoint

Returns:

this WayPoint's type.

getPose

public Pose2d getPose()

Description copied from interface: Waypoint

Returns this Waypoint's position.

Specified by:

getPose in interface Waypoint

Returns:

this Waypoint's position.

getFollowDistance

public double getFollowDistance()

Description copied from interface: Waypoint

Returns the follow distance for this waypoint.

Specified by:

getFollowDistance in interface Waypoint

Returns:

the follow distance for this waypoint.

getTimeout

public long getTimeout()

Description copied from interface: Waypoint

Returns the timeout period of this waypoint.

Specified by:

getTimeout in interface Waypoint

Returns:

the timeout period of this waypoint.

toString

public java.lang.String toString()

Overrides:

toString in class Pose2d