Class DrivetrainSplineTrajectoryParameterizer

java.lang.Object

org.wpilib.math.trajectory.DrivetrainSplineTrajectoryParameterizer

public final class DrivetrainSplineTrajectoryParameterizer
extends Object

Class used to parameterize a drivetrain spline trajectory by time.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	DrivetrainSplineTrajectoryParameterizer.TrajectoryGenerationException	Exception for trajectory generation failure.

Method Summary

Modifier and Type	Method	Description
static DrivetrainSplineTrajectory	parameterize(List<PoseWithCurvature> points, List<TrajectoryConstraint> constraints, double startVelocity, double endVelocity, double maxVelocity, double maxAcceleration, boolean reversed)	Parameterize the trajectory by time.

Methods inherited from class Object

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

Method Details

parameterize

public static DrivetrainSplineTrajectory parameterize(List<PoseWithCurvature> points,
 List<TrajectoryConstraint> constraints,
 double startVelocity,
 double endVelocity,
 double maxVelocity,
 double maxAcceleration,
 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.

startVelocity - The start velocity for the trajectory in m/s.

endVelocity - The end velocity for the trajectory in m/s.

maxVelocity - The max velocity for the trajectory in m/s.

maxAcceleration - The max acceleration for the trajectory in m/s².

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.