TrajectoryBuilder

Adds a marker that triggers after a specified displacement.

Adds a marker to the trajectory builder.

Adds a marker to the trajectory at the current position.

Adds a marker that triggers when the robot is within a certain tolerance of a given point.

Adds a marker that triggers when the robot is within a certain linear and angular tolerance of a given pose.

Adds a marker that triggers after a specified time.

Builds the specified trajectories, creating a new CancelableTrajectory object for each discontinuity. Returns a TrajectoryWithMarkers using a CompositeCancelableTrajectory as the base trajectory.

Builds the specified trajectories, creating a new CancelableTrajectory for each discontinuity, and then packing them into a CompositeCancelableTrajectory object. This does not include any markers.

Builds the specified trajectories, creating a new CancelableTrajectory object for each discontinuity. This does not include markers.

Adds a line segment that goes forward ds.

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

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

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

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.

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.

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.

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.

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.

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

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.

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.

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

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

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.

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.

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.

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.

Adds a line segment that goes to pos.

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

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

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