TrajectoryWithMarkers

@Serializable

@SerialName(value = "TrajectoryWithMarkers")

Trajectory with markers.

Constructors

constructor(trajectory: Trajectory<Param>, markers: List<Marker>)

open override fun duration(): Duration

Returns the total time duration required to execute the trajectory.

open override fun endWrtDisp(): RobotState

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

open override fun endWrtTime(): RobotState

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

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

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

open override fun length(): Double

Returns the total arc length of the trajectory.

Applies a pose transformation map to this trajectory.

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

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

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

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

open override fun start(): RobotState

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

Converts this trajectory to a displacement-parameterized representation.

open override fun wrtTime(): TimeTrajectory

Converts this trajectory to a time-parameterized representation.