core/gay.zharel.hermes.trajectories/CompositeTrajectory

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>

Constructors

CompositeTrajectory

constructor(trajectories: Collection<Trajectory<*>>)

constructor(vararg trajectories: DisplacementTrajectory)

constructor(vararg trajectories: Trajectory<*>)

@JvmOverloads

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

Properties

val length: Double

val offsets: List<Double>

path

@Transient

val path: CompositePosePath

profile

@Transient

val profile: DisplacementProfile

trajectories

@JvmField

val trajectories: List<DisplacementTrajectory>

Functions

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.