Package com.lightningrobotics.common.auto.trajectory

Class Trajectory

  • public class Trajectory
extends java.lang.Object
    Represents a time-parameterized trajectory. The trajectory contains of various States that represent the pose, curvature, time elapsed, velocity, and acceleration at that point.

    • Constructor Summary

      Constructors 
      Constructor Description
      Trajectory()
      Constructs an empty trajectory.
      Trajectory​(java.util.List<TrajectoryState> states)
      Constructs a trajectory from a vector of states.

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      Trajectory concatenate​(Trajectory other)
      Concatenates another trajectory to the current trajectory.
      boolean equals​(java.lang.Object obj)  
      static Trajectory from​(java.util.List<edu.wpi.first.math.geometry.Pose2d> waypoints, TrajectoryConfig config)
      Generates a trajectory from the given waypoints and config.
      edu.wpi.first.math.geometry.Pose2d getInitialPose()
      Returns the initial pose of the trajectory.
      java.util.List<TrajectoryState> getStates()
      Return the states of the trajectory.
      double getTotalTimeSeconds()
      Returns the overall duration of the trajectory.
      Trajectory relativeTo​(edu.wpi.first.math.geometry.Pose2d pose)
      Transforms all poses in the trajectory so that they are relative to the given pose.
      TrajectoryState sample​(double timeSeconds)
      Sample the trajectory at a point in time.
      Trajectory transformBy​(edu.wpi.first.math.geometry.Transform2d transform)
      Transforms all poses in the trajectory by the given transform.

      • Methods inherited from class java.lang.Object

        clone, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Constructor Detail

      • Trajectory

        public Trajectory()
        Constructs an empty trajectory.

      • Trajectory

        public Trajectory​(java.util.List<TrajectoryState> states)
        Constructs a trajectory from a vector of states.
        Parameters:
        states - A vector of states.

    • Method Detail

      • from

        public static Trajectory from​(java.util.List<edu.wpi.first.math.geometry.Pose2d> waypoints,
                              TrajectoryConfig config)
        Generates a trajectory from the given waypoints and config. This method uses quintic hermite splines -- therefore, all points must be represented by Pose2d objects. Continuous curvature is guaranteed in this method.
        Parameters:
        waypoints - List of waypoints..
        config - The configuration for the trajectory.
        Returns:
        The generated trajectory.

      • getInitialPose

        public edu.wpi.first.math.geometry.Pose2d getInitialPose()
        Returns the initial pose of the trajectory.
        Returns:
        The initial pose of the trajectory.

      • getTotalTimeSeconds

        public double getTotalTimeSeconds()
        Returns the overall duration of the trajectory.
        Returns:
        The duration of the trajectory.

      • getStates

        public java.util.List<TrajectoryState> getStates()
        Return the states of the trajectory.
        Returns:
        The states of the trajectory.

      • sample

        public TrajectoryState sample​(double timeSeconds)
        Sample the trajectory at a point in time.
        Parameters:
        timeSeconds - The point in time since the beginning of the trajectory to sample.
        Returns:
        The state at that point in time.

      • transformBy

        public Trajectory transformBy​(edu.wpi.first.math.geometry.Transform2d transform)
        Transforms all poses in the trajectory by the given transform. This is useful for converting a robot-relative trajectory into a field-relative trajectory. This works with respect to the first pose in the trajectory.
        Parameters:
        transform - The transform to transform the trajectory by.
        Returns:
        The transformed trajectory.

      • relativeTo

        public Trajectory relativeTo​(edu.wpi.first.math.geometry.Pose2d pose)
        Transforms all poses in the trajectory so that they are relative to the given pose. This is useful for converting a field-relative trajectory into a robot-relative trajectory.
        Parameters:
        pose - The pose that is the origin of the coordinate frame that the current trajectory will be transformed into.
        Returns:
        The transformed trajectory.

      • concatenate

        public Trajectory concatenate​(Trajectory other)
        Concatenates another trajectory to the current trajectory. The user is responsible for making sure that the end pose of this trajectory and the start pose of the other trajectory match (if that is the desired behavior).
        Parameters:
        other - The trajectory to concatenate.
        Returns:
        The concatenated trajectory.

      • equals

        public boolean equals​(java.lang.Object obj)
        Overrides:
        equals in class java.lang.Object