core/gay.zharel.hermes.trajectories/CancelableTrajectory

CancelableTrajectory

@Serializable

@SerialName(value = "CancelableTrajectory")

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

Constructors

constructor(thisPath: PosePath, cProfile: CancelableProfile, offsets: List<Double>)

Properties

cProfile

@JvmField

val cProfile: CancelableProfile

offsets

@JvmField

val offsets: List<Double>

val path: PosePath

val profile: DisplacementProfile

thisPath

val thisPath: PosePath

Functions

cancel

fun cancel(s: Double): DisplacementTrajectory

duration

open fun duration(): Duration

Returns the total time duration required to execute the trajectory.

endWrtDisp

open fun endWrtDisp(): RobotState

Returns the robot state at the end of the trajectory with respect to displacement.

endWrtTime

open fun endWrtTime(): RobotState

Returns the robot state at the end of the trajectory with respect to time.

get

open operator override fun get(s: Double): RobotState

Evaluates the trajectory at the given parameter value to obtain the robot state.

length

open override fun length(): Double

Returns the total arc length of the trajectory.

map

open fun map(map: PoseMap): DisplacementTrajectory

Applies a pose transformation map to this trajectory.

plus

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

Combines this trajectory with another trajectory to create a composite trajectory.

project

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

Projects a query position onto the trajectory's path using Newton's method.

start

open fun start(): RobotState

Returns the robot state at the start of the trajectory (parameter = 0).

wrtDisp

open override fun wrtDisp(): DisplacementTrajectory

Converts this trajectory to a displacement-parameterized representation.

wrtTime

open override fun wrtTime(): TimeTrajectory

Converts this trajectory to a time-parameterized representation.