core/com.acmerobotics.roadrunner.trajectories/CompositeCancelableTrajectory

CompositeCancelableTrajectory

@Serializable

@SerialName(value = "CompositeCancelableTrajectory")

class CompositeCancelableTrajectory @JvmOverloads constructor(val trajectories: List<CancelableTrajectory>, val offsets: List<Double> = trajectories.scan(0.0) { acc, t -> acc + t.length() }) : Trajectory<Arclength>

Represents a composite trajectory made up of multiple CancelableTrajectory segments. Allows cancellation at any displacement along the combined trajectory, returning a new composite trajectory.

Constructors

CompositeCancelableTrajectory

@JvmOverloads

constructor(trajectories: List<CancelableTrajectory>, offsets: List<Double> = trajectories.scan(0.0) { acc, t -> acc + t.length() })

Properties

offsets

@JvmField

val offsets: List<Double>

trajectories

@JvmField

val trajectories: List<CancelableTrajectory>

Functions

cancel

fun cancel(s: Double): DisplacementTrajectory

Cancels the composite trajectory at the given displacement, returning a new trajectory starting from that point.

duration

open override fun duration(): Duration

endWrtDisp

open override fun endWrtDisp(): Pose2dDual<Time>

endWrtTime

open override fun endWrtTime(): Pose2dDual<Time>

get

open operator override fun get(param: Double): Pose2dDual<Time>

length

open override fun length(): Double

map

open override fun map(map: PoseMap): DisplacementTrajectory

plus

open operator override fun plus(other: Trajectory<Arclength>): CompositeTrajectory

project

open override fun project(query: Vector2d, init: Double): Double

start

open override fun start(): Pose2dDual<Time>

wrtDisp

open override fun wrtDisp(): DisplacementTrajectory

wrtTime

open override fun wrtTime(): TimeTrajectory