core/com.acmerobotics.roadrunner.trajectories/PosePathSeqBuilder

PosePathSeqBuilder

Builds a sequence of CompositePosePaths, each guaranteeing \(C^1\) heading continuity. Requires that pose path has \(C^2\) continuity.

A new path is started whenever extending the current path would violate the continuity requirement. To manually insert further path breaks, invoke this builder multiple times.

Constructors

PosePathSeqBuilder

constructor(path: PositionPath<Arclength>, beginHeading: Rotation2d)

constructor(path: PositionPath<Arclength>, beginHeading: Double)

Functions

constantUntil

fun constantUntil(disp: Double): PosePathSeqBuilder

Fills in constant headings until displacement disp.

constantUntilEnd

fun constantUntilEnd(): List<CompositePosePath>

linearUntil

fun linearUntil(disp: Double, heading: Rotation2d): PosePathSeqBuilder

fun linearUntil(disp: Double, heading: Double): PosePathSeqBuilder

Fills in headings interpolated linearly to heading heading at displacement disp.

linearUntilEnd

fun linearUntilEnd(heading: Rotation2d): List<CompositePosePath>

fun linearUntilEnd(heading: Double): List<CompositePosePath>

splineUntil

fun splineUntil(disp: Double, heading: Rotation2d): PosePathSeqBuilder

fun splineUntil(disp: Double, heading: Double): PosePathSeqBuilder

splineUntilEnd

fun splineUntilEnd(heading: Rotation2d): List<CompositePosePath>

fun splineUntilEnd(heading: Double): List<CompositePosePath>

tangentUntil

fun tangentUntil(disp: Double): PosePathSeqBuilder

Fills in tangent headings until displacement disp.

tangentUntilEnd

fun tangentUntilEnd(): List<CompositePosePath>