core/com.acmerobotics.roadrunner.trajectories/CompositeTrajectory

CompositeTrajectory

@Serializable

@SerialName(value = "CompositeTrajectory")

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

Constructors

CompositeTrajectory

constructor(trajectories: Collection<Trajectory<*>>)

constructor(vararg trajectories: DisplacementTrajectory)

constructor(vararg trajectories: Trajectory<*>)

@JvmOverloads

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

Properties

val length: Double

val offsets: List<Double>

path

@Transient

val path: CompositePosePath

profile

@Transient

val profile: DisplacementProfile

trajectories

@JvmField

val trajectories: List<DisplacementTrajectory>

Functions

duration

open fun duration(): Duration

endWrtDisp

open fun endWrtDisp(): Pose2dDual<Time>

endWrtTime

open fun endWrtTime(): Pose2dDual<Time>

get

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

length

open override fun length(): Double

map

open fun map(map: PoseMap): DisplacementTrajectory

plus

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

project

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

start

open fun start(): Pose2dDual<Time>

wrtDisp

open override fun wrtDisp(): DisplacementTrajectory

wrtTime

open override fun wrtTime(): TimeTrajectory