core/com.acmerobotics.roadrunner.trajectories

Package-level declarations

Types

AfterDispTrigger

@Serializable

@SerialName(value = "AfterDisp")

class AfterDispTrigger(val disp: Double) : MarkerTrigger

AfterTimeTrigger

@Serializable

@SerialName(value = "AfterTime")

class AfterTimeTrigger(val time: Double) : MarkerTrigger

AtPointTrigger

@Serializable

@SerialName(value = "AtPoint")

class AtPointTrigger @JvmOverloads constructor(val point: Vector2d, val tolerance: Double = 2.0) : MarkerTrigger

AtPoseTrigger

@Serializable

@SerialName(value = "AtPose")

class AtPoseTrigger @JvmOverloads constructor(val pose: Pose2d, val linearTolerance: Double = 2.0, val angularTolerance: Double = Math.toRadians(5.0)) : MarkerTrigger

CancelableTrajectory

@Serializable

@SerialName(value = "CancelableTrajectory")

class CancelableTrajectory(val thisPath: PosePath, val cProfile: CancelableProfile, val offsets: List<Double>) : DisplacementTrajectory

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.

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>

ConstantPathBuilder

class ConstantPathBuilder

ConstantTrajectoryBuilder

class ConstantTrajectoryBuilder

DisplacementTrajectory

@Serializable

@SerialName(value = "DisplacementTrajectory")

open class DisplacementTrajectory(val path: PosePath, val profile: DisplacementProfile) : Trajectory<Arclength>

Marker

@Serializable

class Marker(val trigger: MarkerTrigger, val callback: MarkerCallback = MarkerCallback {})

Represents a trajectory marker, which consists of a trigger condition and a callback to execute when triggered.

MarkerCallback

fun interface MarkerCallback

Functional interface for marker callbacks triggered during trajectory execution. Implementations define actions to perform when a marker is triggered.

MarkerTrigger

fun interface MarkerTrigger

Functional interface representing a marker trigger. A marker trigger determines whether a specific condition is met during the execution of a trajectory, based on the robot's state, the trajectory, and the current progress along the trajectory.

PathBuilder

class PathBuilder

PosePathSeqBuilder

class PosePathSeqBuilder

PositionPathSeqBuilder

class PositionPathSeqBuilder

RestrictedPathBuilder

class RestrictedPathBuilder

RestrictedPosePathBuilder

class RestrictedPosePathBuilder

Do not instantiate directly. See SafePosePathBuilder.

RestrictedTrajectoryBuilder