Package com.lightningrobotics.common.auto.trajectory

Class TrajectoryState

java.lang.Object

com.lightningrobotics.common.auto.trajectory.TrajectoryState

public class TrajectoryState
extends java.lang.Object

Represents a time-parameterized trajectory. The trajectory contains of various TrajectoryStates that represent the pose, curvature, time elapsed, velocity, and acceleration at that point.

Field Summary

Fields

Modifier and Type	Field	Description
double	accelerationMetersPerSecondSq	The acceleration at that point of the trajectory.
double	curvatureRadPerMeter	The curvature at that point of the trajectory.
edu.wpi.first.math.geometry.Pose2d	poseMeters	The pose at that point of the trajectory.
double	timeSeconds	The time elapsed since the beginning of the trajectory.
double	velocityMetersPerSecond	The speed at that point of the trajectory.

Constructor Summary

Constructors

Constructor	Description
TrajectoryState()
TrajectoryState(double timeSeconds, double velocityMetersPerSecond, double accelerationMetersPerSecondSq, edu.wpi.first.math.geometry.Pose2d poseMeters, double curvatureRadPerMeter)	Constructs a TrajectoryState with the specified parameters.

Method Summary

Modifier and Type	Method	Description
boolean	equals(java.lang.Object obj)

Methods inherited from class java.lang.Object

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

Field Detail

timeSeconds

public double timeSeconds

The time elapsed since the beginning of the trajectory.

velocityMetersPerSecond

public double velocityMetersPerSecond

The speed at that point of the trajectory.

accelerationMetersPerSecondSq

public double accelerationMetersPerSecondSq

The acceleration at that point of the trajectory.

poseMeters

public edu.wpi.first.math.geometry.Pose2d poseMeters

The pose at that point of the trajectory.

curvatureRadPerMeter

public double curvatureRadPerMeter

The curvature at that point of the trajectory.

Constructor Detail

TrajectoryState

public TrajectoryState()

TrajectoryState

public TrajectoryState(double timeSeconds,
                       double velocityMetersPerSecond,
                       double accelerationMetersPerSecondSq,
                       edu.wpi.first.math.geometry.Pose2d poseMeters,
                       double curvatureRadPerMeter)

Constructs a TrajectoryState with the specified parameters.

Parameters:

timeSeconds - The time elapsed since the beginning of the trajectory.

velocityMetersPerSecond - The speed at that point of the trajectory.

accelerationMetersPerSecondSq - The acceleration at that point of the trajectory.

poseMeters - The pose at that point of the trajectory.

curvatureRadPerMeter - The curvature at that point of the trajectory.

Method Detail

equals

public boolean equals(java.lang.Object obj)

Overrides:

equals in class java.lang.Object