core/gay.zharel.hermes.trajectories/CompositeCancelableTrajectory

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.

Constructors

CompositeCancelableTrajectory

@JvmOverloads

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

Properties

offsets

@JvmField

val offsets: List<Double>

trajectories

@JvmField

val trajectories: List<CancelableTrajectory>

Functions

cancel

fun cancel(s: Double): DisplacementTrajectory

Cancels the composite trajectory at the given displacement, returning a new trajectory starting from that point.

duration

open override fun duration(): Duration

Returns the total time duration required to execute the trajectory.

endWrtDisp

open override fun endWrtDisp(): RobotState

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

endWrtTime

open override fun endWrtTime(): RobotState

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

get

open operator override fun get(param: 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 override fun map(map: PoseMap): DisplacementTrajectory

Applies a pose transformation map to this trajectory.

plus

open operator override 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 override 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.