actions/com.acmerobotics.roadrunner.actions/TrajectoryActionBuilder

TrajectoryActionBuilder

class TrajectoryActionBuilder

Builder that combines trajectories, turns, and other actions.

Constructors

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@JvmOverloads
constructor(turnActionFactory: TurnActionFactory, trajectoryActionFactory: TrajectoryActionFactory, trajectoryBuilderParams: TrajectoryBuilderParams, beginPose: Pose2d, beginEndVel: Double, baseTurnConstraints: TurnConstraints, baseVelConstraint: VelConstraint, baseAccelConstraint: AccelConstraint, poseMap: PoseMap = IdentityPoseMap)

Properties

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Functions

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fun afterDisp(ds: Double, a: Action): TrajectoryActionBuilder

Schedules action a to execute in parallel starting at a displacement ds after the last trajectory segment. The action start is clamped to the span of the current trajectory.

fun afterDisp(ds: Double, f: InstantFunction): TrajectoryActionBuilder
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fun afterTime(dt: Double, a: Action): TrajectoryActionBuilder

Schedules action a to execute in parallel starting dt seconds after the last trajectory segment, turn, or other action.

fun afterTime(dt: Double, f: InstantFunction): TrajectoryActionBuilder
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fun build(): Action

Returns an Action object that follows the full sequence.

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fun endTrajectory(): TrajectoryActionBuilder

Ends the current trajectory in progress. No-op if no trajectory segments are pending.

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@JvmOverloads
fun forward(ds: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes forward ds in the current direction.

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@JvmOverloads
fun forwardConstantHeading(ds: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes forward ds while maintaining current heading. Equivalent to forward.

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@JvmOverloads
fun forwardLinearHeading(ds: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
@JvmOverloads
fun forwardLinearHeading(ds: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes forward ds, changing heading from current to heading using linear interpolation.

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@JvmOverloads
fun forwardSplineHeading(ds: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
@JvmOverloads
fun forwardSplineHeading(ds: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes forward ds, changing heading from current to heading using spline interpolation.

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fun fresh(): TrajectoryActionBuilder

Creates a new builder with the same settings at the current pose, tangent.

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@JvmOverloads
fun lineToX(posX: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes to x-coordinate posX. The robot will continue traveling in the direction it is currently in; if the robot is perpendicular to the x-axis, this throws an error.

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@JvmOverloads
fun lineToXConstantHeading(posX: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes to x-coordinate posX. The robot will continue traveling in the direction it is currently in; if the robot is perpendicular to the x-axis, this throws an error. Equivalent to lineToX.

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@JvmOverloads
fun lineToXLinearHeading(posX: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
@JvmOverloads
fun lineToXLinearHeading(posX: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes to x-coordinate posX, while changing heading from current to heading using linear interpolation. The robot will continue traveling in the direction it is currently in; if the robot is perpendicular to the x-axis, this throws an error.

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@JvmOverloads
fun lineToXSplineHeading(posX: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
@JvmOverloads
fun lineToXSplineHeading(posX: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes to x-coordinate posX, while changing heading from current to heading using spline interpolation. The robot will continue traveling in the direction it is currently in; if the robot is perpendicular to the x-axis, this throws an error.

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@JvmOverloads
fun lineToY(posY: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes to y-coordinate posY. The robot will continue traveling in the direction it is currently in; if the robot is perpendicular to the y-axis, this throws an error.

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@JvmOverloads
fun lineToYConstantHeading(posY: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes to y-coordinate posY.

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@JvmOverloads
fun lineToYLinearHeading(posY: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
@JvmOverloads
fun lineToYLinearHeading(posY: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes to y-coordinate posY, while changing heading from current to heading using linear interpolation. The robot will continue traveling in the direction it is currently in; if the robot is perpendicular to the y-axis, this throws an error.

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@JvmOverloads
fun lineToYSplineHeading(posY: Double, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
@JvmOverloads
fun lineToYSplineHeading(posY: Double, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes to y-coordinate posY, while changing heading from current to heading using spline interpolation. The robot will continue traveling in the direction it is currently in; if the robot is perpendicular to the y-axis, this throws an error.

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fun setReversed(reversed: Boolean): TrajectoryActionBuilder

Reverses the next path segment; actually a call to setTangent(Math.PI)!

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fun setTangent(r: Rotation2d): TrajectoryActionBuilder
fun setTangent(r: Double): TrajectoryActionBuilder

Sets the starting tangent of the next path segment. See RoadRunner docs.

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@JvmOverloads
fun splineTo(pos: Vector2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
@JvmOverloads
fun splineTo(pos: Vector2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a curved path segment using quintic Hermite splines that goes to pos with an end tangent of tangent. The shape of the curve is based off of the starting position and tangent as well as the ending pos and tangent.

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@JvmOverloads
fun splineToConstantHeading(pos: Vector2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
@JvmOverloads
fun splineToConstantHeading(pos: Vector2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a curved path segment using quintic Hermite splines that goes to pos with an end tangent of tangent. The shape of the curve is based off of the starting position and tangent as well as the ending pos and tangent. The robot's heading remains constant as opposed to matching the tangent.

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@JvmOverloads
fun splineToLinearHeading(pose: Pose2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
@JvmOverloads
fun splineToLinearHeading(pose: Pose2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a curved path segment using quintic Hermite splines that goes to pose.position with an end tangent of tangent. The shape of the curve is based off of the starting position and tangent as well as the ending position and tangent. The robot's heading linearly interpolates from its current heading to pose.heading.

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@JvmOverloads
fun splineToSplineHeading(pose: Pose2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
@JvmOverloads
fun splineToSplineHeading(pose: Pose2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a curved path segment using quintic Hermite splines that goes to pose.position with an end tangent of tangent. The shape of the curve is based off of the starting position and tangent as well as the ending position and tangent. The robot's heading interpolates from its current heading to pose.heading using spline interpolation.

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fun stopAndAdd(a: Action): TrajectoryActionBuilder

Stops the current trajectory (like endTrajectory) and adds action a next.

fun stopAndAdd(f: InstantFunction): TrajectoryActionBuilder
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@JvmOverloads
fun strafeTo(pos: Vector2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes to pos.

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@JvmOverloads
fun strafeToConstantHeading(pos: Vector2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes to pos. Equivalent to strafeTo.

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@JvmOverloads
fun strafeToLinearHeading(pos: Vector2d, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
@JvmOverloads
fun strafeToLinearHeading(pos: Vector2d, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes to pos, changing heading from current to heading using linear interpolation.

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@JvmOverloads
fun strafeToSplineHeading(pos: Vector2d, heading: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
@JvmOverloads
fun strafeToSplineHeading(pos: Vector2d, heading: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder

Adds a line segment that goes to pos, changing heading from current to heading using spline interpolation.

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@JvmOverloads
fun turn(angle: Double, turnConstraintsOverride: TurnConstraints? = null): TrajectoryActionBuilder

Turns angle radians.

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@JvmOverloads
fun turnTo(heading: Rotation2d, turnConstraintsOverride: TurnConstraints? = null): TrajectoryActionBuilder

Turns to face heading heading.

@JvmOverloads
fun turnTo(heading: Double, turnConstraintsOverride: TurnConstraints? = null): TrajectoryActionBuilder
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fun waitSeconds(t: Double): TrajectoryActionBuilder

Waits t seconds.