com.arcrobotics.ftclib.trajectory

Class Trajectory

java.lang.Object

com.arcrobotics.ftclib.trajectory.Trajectory

public class Trajectory
extends java.lang.Object

Represents a time-parameterized trajectory. The trajectory contains of various States that represent the pose, curvature, time elapsed, velocity, and acceleration at that point.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Trajectory.State Represents a time-parameterized trajectory.

Constructor Summary

Constructors

Constructor and Description
Trajectory(java.util.List<Trajectory.State> states) Constructs a trajectory from a vector of states.

Method Summary

Modifier and Type	Method and Description
Pose2d	getInitialPose() Returns the initial pose of the trajectory.
java.util.List<Trajectory.State>	getStates() Return the states of the trajectory.
double	getTotalTimeSeconds() Returns the overall duration of the trajectory.
Trajectory	relativeTo(Pose2d pose) Transforms all poses in the trajectory so that they are relative to the given pose.
Trajectory.State	sample(double timeSeconds) Sample the trajectory at a point in time.
java.lang.String	toString()
Trajectory	transformBy(Transform2d transform) Transforms all poses in the trajectory by the given transform.

Methods inherited from class java.lang.Object

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

Constructor Detail

Trajectory

public Trajectory(java.util.List<Trajectory.State> states)

Constructs a trajectory from a vector of states.

Parameters:

states - A vector of states.

Method Detail

getInitialPose

public Pose2d getInitialPose()

Returns the initial pose of the trajectory.

Returns:

The initial pose of the trajectory.

getTotalTimeSeconds

public double getTotalTimeSeconds()

Returns the overall duration of the trajectory.

Returns:

The duration of the trajectory.

getStates

public java.util.List<Trajectory.State> getStates()

Return the states of the trajectory.

Returns:

The states of the trajectory.

sample

public Trajectory.State sample(double timeSeconds)

Sample the trajectory at a point in time.

Parameters:

timeSeconds - The point in time since the beginning of the trajectory to sample.

Returns:

The state at that point in time.

transformBy

public Trajectory transformBy(Transform2d transform)

Transforms all poses in the trajectory by the given transform. This is useful for converting a robot-relative trajectory into a field-relative trajectory. This works with respect to the first pose in the trajectory.

Parameters:

transform - The transform to transform the trajectory by.

Returns:

The transformed trajectory.

relativeTo

public Trajectory relativeTo(Pose2d pose)

Transforms all poses in the trajectory so that they are relative to the given pose. This is useful for converting a field-relative trajectory into a robot-relative trajectory.

Parameters:

pose - The pose that is the origin of the coordinate frame that the current trajectory will be transformed into.

Returns:

The transformed trajectory.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object