core/gay.zharel.hermes.trajectories/PathBuilder

PathBuilder

class PathBuilder

Constructors

PathBuilder

constructor(beginPose: Pose2d, eps: Double)

Functions

bezierTo

fun bezierTo(vararg controlPoints: Vector2d): PathBuilder

fun bezierTo(controlPoints: List<Vector2d>): PathBuilder

bezierToConstantHeading

fun bezierToConstantHeading(vararg controlPoints: Vector2d): PathBuilder

fun bezierToConstantHeading(controlPoints: List<Vector2d>): PathBuilder

bezierToLinearHeading

fun bezierToLinearHeading(controlPoints: List<Vector2d>, heading: Rotation2d): PathBuilder

fun bezierToLinearHeading(controlPoints: List<Vector2d>, heading: Double): PathBuilder

bezierToSplineHeading

fun bezierToSplineHeading(controlPoints: List<Vector2d>, heading: Rotation2d): PathBuilder

fun bezierToSplineHeading(controlPoints: List<Vector2d>, heading: Double): PathBuilder

build

fun build(): List<CompositePosePath>

forward

fun forward(ds: Double): PathBuilder

forwardConstantHeading

fun forwardConstantHeading(ds: Double): PathBuilder

forwardLinearHeading

fun forwardLinearHeading(ds: Double, heading: Rotation2d): PathBuilder

fun forwardLinearHeading(ds: Double, heading: Double): PathBuilder

forwardSplineHeading

fun forwardSplineHeading(ds: Double, heading: Rotation2d): PathBuilder

fun forwardSplineHeading(ds: Double, heading: Double): PathBuilder

lineToX

fun lineToX(posX: Double): PathBuilder

lineToXConstantHeading

fun lineToXConstantHeading(posX: Double): PathBuilder

lineToXLinearHeading

fun lineToXLinearHeading(posX: Double, heading: Rotation2d): PathBuilder

fun lineToXLinearHeading(posX: Double, heading: Double): PathBuilder

lineToXSplineHeading

fun lineToXSplineHeading(posX: Double, heading: Rotation2d): PathBuilder

fun lineToXSplineHeading(posX: Double, heading: Double): PathBuilder

lineToY

fun lineToY(posY: Double): PathBuilder

lineToYConstantHeading

fun lineToYConstantHeading(posY: Double): PathBuilder

lineToYLinearHeading

fun lineToYLinearHeading(posY: Double, heading: Rotation2d): PathBuilder

fun lineToYLinearHeading(posY: Double, heading: Double): PathBuilder

lineToYSplineHeading

fun lineToYSplineHeading(posY: Double, heading: Rotation2d): PathBuilder

fun lineToYSplineHeading(posY: Double, heading: Double): PathBuilder

setReversed

fun setReversed(reversed: Boolean): PathBuilder

setTangent

fun setTangent(r: Rotation2d): PathBuilder

fun setTangent(r: Double): PathBuilder

splineTo

fun splineTo(pos: Vector2d, tangent: Rotation2d): PathBuilder

fun splineTo(pos: Vector2d, tangent: Double): PathBuilder

splineToConstantHeading

fun splineToConstantHeading(pos: Vector2d, tangent: Rotation2d): PathBuilder

fun splineToConstantHeading(pos: Vector2d, tangent: Double): PathBuilder

splineToLinearHeading

fun splineToLinearHeading(pose: Pose2d, tangent: Rotation2d): PathBuilder

fun splineToLinearHeading(pose: Pose2d, tangent: Double): PathBuilder

splineToSplineHeading

fun splineToSplineHeading(pose: Pose2d, tangent: Rotation2d): PathBuilder

fun splineToSplineHeading(pose: Pose2d, tangent: Double): PathBuilder

strafeTo

fun strafeTo(pos: Vector2d): PathBuilder

strafeToConstantHeading

fun strafeToConstantHeading(pos: Vector2d): PathBuilder

strafeToLinearHeading

fun strafeToLinearHeading(pos: Vector2d, heading: Rotation2d): PathBuilder

fun strafeToLinearHeading(pos: Vector2d, heading: Double): PathBuilder

strafeToSplineHeading

fun strafeToSplineHeading(pos: Vector2d, heading: Rotation2d): PathBuilder

fun strafeToSplineHeading(pos: Vector2d, heading: Double): PathBuilder