Package com.lightningrobotics.common.auto.trajectory

Class TrajectoryInterpolater

java.lang.Object

com.lightningrobotics.common.auto.trajectory.TrajectoryInterpolater

public final class TrajectoryInterpolater
extends java.lang.Object

Class used to parameterize a trajectory by time.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	TrajectoryInterpolater.TrajectoryGenerationException

Method Summary

Modifier and Type	Method	Description
static Trajectory	timeParameterizeTrajectory(java.util.List<edu.wpi.first.math.spline.PoseWithCurvature> points, java.util.List<TrajectoryConstraint> constraints, double startVelocityMetersPerSecond, double endVelocityMetersPerSecond, double maxVelocityMetersPerSecond, double maxAccelerationMetersPerSecondSq, boolean reversed)	Parameterize the trajectory by time.

Methods inherited from class java.lang.Object

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

Method Detail

timeParameterizeTrajectory

public static Trajectory timeParameterizeTrajectory(java.util.List<edu.wpi.first.math.spline.PoseWithCurvature> points,
                                                    java.util.List<TrajectoryConstraint> constraints,
                                                    double startVelocityMetersPerSecond,
                                                    double endVelocityMetersPerSecond,
                                                    double maxVelocityMetersPerSecond,
                                                    double maxAccelerationMetersPerSecondSq,
                                                    boolean reversed)

Parameterize the trajectory by time. This is where the velocity profile is generated.

The derivation of the algorithm used can be found here.

Parameters:

points - Reference to the spline points.

constraints - A vector of various velocity and acceleration. constraints.

startVelocityMetersPerSecond - The start velocity for the trajectory.

endVelocityMetersPerSecond - The end velocity for the trajectory.

maxVelocityMetersPerSecond - The max velocity for the trajectory.

maxAccelerationMetersPerSecondSq - The max acceleration for the trajectory.

reversed - Whether the robot should move backwards. Note that the robot will still move from a -> b -> ... -> z as defined in the waypoints.

Returns:

The trajectory.