Class DrivetrainSplineTrajectory

java.lang.Object

org.wpilib.math.trajectory.Trajectory<DrivetrainSplineSample>

org.wpilib.math.trajectory.DrivetrainSplineTrajectory

public class DrivetrainSplineTrajectory
extends Trajectory<DrivetrainSplineSample>

A trajectory for spline-based path following.

Field Summary

Fields inherited from class Trajectory

duration, samples

Constructor Summary

Constructors

Constructor	Description
DrivetrainSplineTrajectory(List<DrivetrainSplineSample> samples)	Constructs a DrivetrainSplineTrajectory.
DrivetrainSplineTrajectory(DrivetrainSplineSample[] samples)	Constructs a DrivetrainSplineTrajectory.

Method Summary

Modifier and Type	Method	Description
DrivetrainSplineTrajectory	concatenate(Trajectory<DrivetrainSplineSample> other)	Concatenates this trajectory with another trajectory.
DrivetrainSplineSample	interpolate(DrivetrainSplineSample start, DrivetrainSplineSample end, double t)	Interpolates between two samples using constant-acceleration kinematic equations.
DrivetrainSplineTrajectory	relativeTo(Pose2d other)	Returns a new trajectory that is relative to the given pose.
DrivetrainSplineTrajectory	transformBy(Transform2d transform)	Transforms all poses in the trajectory by the given transform.

Methods inherited from class Trajectory

end, getSamples, sampleAt, sampleAt, start

Methods inherited from class Object

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

Constructor Details

DrivetrainSplineTrajectory

public DrivetrainSplineTrajectory(DrivetrainSplineSample[] samples)

Constructs a DrivetrainSplineTrajectory.

Parameters:

samples - the samples of the trajectory. Order does not matter as they will be ordered internally.

DrivetrainSplineTrajectory

public DrivetrainSplineTrajectory(List<DrivetrainSplineSample> samples)

Constructs a DrivetrainSplineTrajectory.

Parameters:

samples - the samples of the trajectory. Order does not matter as they will be ordered internally.

Method Details

interpolate

public DrivetrainSplineSample interpolate(DrivetrainSplineSample start,
 DrivetrainSplineSample end,
 double t)

Interpolates between two samples using constant-acceleration kinematic equations.

Specified by:

interpolate in class Trajectory<DrivetrainSplineSample>

Parameters:

start - The starting sample.

end - The ending sample.

t - The interpolation parameter between 0 and 1.

Returns:

The interpolated sample.

transformBy

public DrivetrainSplineTrajectory transformBy(Transform2d transform)

Transforms all poses in the trajectory by the given transform.

Specified by:

transformBy in class Trajectory<DrivetrainSplineSample>

Parameters:

transform - The transform to apply to the trajectory.

Returns:

The transformed trajectory.

concatenate

public DrivetrainSplineTrajectory concatenate(Trajectory<DrivetrainSplineSample> other)

Concatenates this trajectory with another trajectory.

Specified by:

concatenate in class Trajectory<DrivetrainSplineSample>

Parameters:

other - the other trajectory to concatenate with this one.

Returns:

a new trajectory that is the concatenation of this trajectory and the other trajectory.

relativeTo

public DrivetrainSplineTrajectory relativeTo(Pose2d other)

Returns a new trajectory that is relative to the given pose.

Specified by:

relativeTo in class Trajectory<DrivetrainSplineSample>

Parameters:

other - the pose to which the trajectory should be relative.

Returns:

a new trajectory relative to the given pose.