Inheritance diagram for pathplanner::PathPlannerPath:

Public Member Functions
	PathPlannerPath (std::vector< Waypoint > waypoints, std::vector< RotationTarget > rotationTargets, std::vector< PointTowardsZone > pointTowardsZones, std::vector< ConstraintsZone > constraintZones, std::vector< EventMarker > eventMarkers, PathConstraints globalConstraints, std::optional< IdealStartingState > idealStartingState, GoalEndState goalEndState, bool reversed)

	PathPlannerPath (std::vector< Waypoint > waypoints, PathConstraints constraints, std::optional< IdealStartingState > idealStartingState, GoalEndState goalEndState, bool reversed=false)

	PathPlannerPath (PathConstraints constraints, GoalEndState goalEndState)

void	hotReload (const wpi::json &json)

frc::Pose2d	getStartingDifferentialPose ()

std::optional< frc::Pose2d >	getStartingHolonomicPose ()

constexpr const std::vector< PathPoint > &	getAllPathPoints () const

size_t	numPoints () const

const PathPoint &	getPoint (size_t index) const

std::optional< PathPlannerTrajectory >	getIdealTrajectory (RobotConfig robotConfig)

frc::Rotation2d	getInitialHeading () const

constexpr std::vector< Waypoint > &	getWaypoints ()

constexpr std::vector< RotationTarget > &	getRotationTargets ()

constexpr std::vector< PointTowardsZone > &	getPointTowardsZones ()

constexpr std::vector< ConstraintsZone > &	getConstraintZones ()

constexpr const PathConstraints &	getGlobalConstraints () const

constexpr const GoalEndState &	getGoalEndState () const

constexpr const std::optional< IdealStartingState > &	getIdealStartingState () const

constexpr std::vector< EventMarker > &	getEventMarkers ()

constexpr bool	isReversed () const

constexpr bool	isChoreoPath () const

PathPlannerTrajectory	generateTrajectory (frc::ChassisSpeeds startingSpeeds, frc::Rotation2d startingRotation, const RobotConfig &config)

std::shared_ptr< PathPlannerPath >	flipPath ()

std::shared_ptr< PathPlannerPath >	mirrorPath ()

std::vector< frc::Pose2d >	getPathPoses () const

Static Public Member Functions
static std::vector< Waypoint >	waypointsFromPoses (std::vector< frc::Pose2d > poses)

static std::vector< Waypoint >	bezierFromPoses (std::vector< frc::Pose2d > poses)

static std::shared_ptr< PathPlannerPath >	fromPathFile (std::string pathName)

static std::shared_ptr< PathPlannerPath >	fromChoreoTrajectory (std::string trajectoryName)

static std::shared_ptr< PathPlannerPath >	fromChoreoTrajectory (std::string trajectoryName, size_t splitIndex)

static std::shared_ptr< PathPlannerPath >	fromPathPoints (std::vector< PathPoint > pathPoints, PathConstraints globalConstraints, GoalEndState goalEndState)

static void	clearPathCache ()

Public Attributes
std::string	name

bool	preventFlipping = false

Constructor & Destructor Documentation

◆ PathPlannerPath() [1/3]

PathPlannerPath::PathPlannerPath	(	std::vector< Waypoint >	waypoints,
		std::vector< RotationTarget >	rotationTargets,
		std::vector< PointTowardsZone >	pointTowardsZones,
		std::vector< ConstraintsZone >	constraintZones,
		std::vector< EventMarker >	eventMarkers,
		PathConstraints	globalConstraints,
		std::optional< IdealStartingState >	idealStartingState,
		GoalEndState	goalEndState,
		bool	reversed
	)

Create a new path planner path

Parameters

waypoints	List of waypoints representing the path. For on-the-fly paths, you likely want to use waypointsFromPoses to create these.
holonomicRotations	List of rotation targets along the path
pointTowardsZones	List of point towards zones along the path
constraintZones	List of constraint zones along the path
eventMarkers	List of event markers along the path
globalConstraints	The global constraints of the path
idealStartingState	The ideal starting state of the path. Can be nullopt if unknown
goalEndState	The goal end state of the path
reversed	Should the robot follow the path reversed (differential drive only)

◆ PathPlannerPath() [2/3]

pathplanner::PathPlannerPath::PathPlannerPath	(	std::vector< Waypoint >	waypoints,
		PathConstraints	constraints,
		std::optional< IdealStartingState >	idealStartingState,
		GoalEndState	goalEndState,
		bool	reversed = `false`
	)

inline

Simplified constructor to create a path with no rotation targets, constraint zones, or event markers.

Parameters

waypoints	List of waypoints representing the path. For on-the-fly paths, you likely want to use waypointsFromPoses to create these.
constraints	The global constraints of the path
idealStartingState	The ideal starting state of the path. Can be nullopt if unknown
goalEndState	The goal end state of the path
reversed	Should the robot follow the path reversed (differential drive only)

◆ PathPlannerPath() [3/3]

PathPlannerPath::PathPlannerPath	(	PathConstraints	constraints,
		GoalEndState	goalEndState
	)

USED INTERNALLY. DO NOT USE!

Member Function Documentation

◆ bezierFromPoses()

static std::vector< Waypoint > pathplanner::PathPlannerPath::bezierFromPoses ( std::vector< frc::Pose2d > poses )

inlinestatic

Create the bezier waypoints necessary to create a path using a list of poses

Parameters

poses List of poses. Each pose represents one waypoint.

Returns: Bezier curve waypoints

◆ clearPathCache()

static void pathplanner::PathPlannerPath::clearPathCache ( )

inlinestatic

Clear the cache of previously loaded paths.

◆ flipPath()

std::shared_ptr< PathPlannerPath > PathPlannerPath::flipPath ( )

Flip a path to the other side of the field, maintaining a global blue alliance origin

Returns: The flipped path

◆ fromChoreoTrajectory() [1/2]

std::shared_ptr< PathPlannerPath > PathPlannerPath::fromChoreoTrajectory ( std::string trajectoryName )

static

Load a Choreo trajectory as a PathPlannerPath

Parameters

trajectoryName The name of the Choreo trajectory to load. This should be just the name of the trajectory. The trajectories must be located in the "deploy/choreo" directory.

Returns: PathPlannerPath created from the given Choreo trajectory file

◆ fromChoreoTrajectory() [2/2]

static std::shared_ptr< PathPlannerPath > pathplanner::PathPlannerPath::fromChoreoTrajectory	(	std::string	trajectoryName,
		size_t	splitIndex
	)

inlinestatic

Load a Choreo trajectory as a PathPlannerPath

Parameters

trajectoryName	The name of the Choreo trajectory to load. This should be just the name of the trajectory.
splitIndex	The index of the split to use

Returns: PathPlannerPath created from the given Choreo trajectory and split index

◆ fromPathFile()

std::shared_ptr< PathPlannerPath > PathPlannerPath::fromPathFile ( std::string pathName )

static

Load a path from a path file in storage

Parameters

pathName The name of the path to load

Returns: shared ptr to the PathPlannerPath created from the given file name

◆ fromPathPoints()

std::shared_ptr< PathPlannerPath > PathPlannerPath::fromPathPoints	(	std::vector< PathPoint >	pathPoints,
		PathConstraints	globalConstraints,
		GoalEndState	goalEndState
	)

static

Create a path planner path from pre-generated path points. This is used internally, and you likely should not use this

◆ getAllPathPoints()

constexpr const std::vector< PathPoint > & pathplanner::PathPlannerPath::getAllPathPoints ( ) const

inlineconstexpr

Get all the path points in this path

Returns: Path points in the path

◆ getConstraintZones()

constexpr std::vector< ConstraintsZone > & pathplanner::PathPlannerPath::getConstraintZones ( )

inlineconstexpr

Get the constraint zones for this path

Returns: vector of this path's constraint zones

◆ getEventMarkers()

constexpr std::vector< EventMarker > & pathplanner::PathPlannerPath::getEventMarkers ( )

inlineconstexpr

Get all the event markers for this path

Returns: The event markers for this path

◆ getGlobalConstraints()

constexpr const PathConstraints & pathplanner::PathPlannerPath::getGlobalConstraints ( ) const

inlineconstexpr

Get the global constraints for this path

Returns: Global constraints that apply to this path

◆ getGoalEndState()

constexpr const GoalEndState & pathplanner::PathPlannerPath::getGoalEndState ( ) const

inlineconstexpr

Get the goal end state of this path

Returns: The goal end state

◆ getIdealStartingState()

constexpr const std::optional< IdealStartingState > & pathplanner::PathPlannerPath::getIdealStartingState ( ) const

inlineconstexpr

Get the ideal starting state of this path

Returns: The ideal starting state

◆ getIdealTrajectory()

std::optional< PathPlannerTrajectory > PathPlannerPath::getIdealTrajectory ( RobotConfig robotConfig )

If possible, get the ideal trajectory for this path. This trajectory can be used if the robot is currently near the start of the path and at the ideal starting state. If there is no ideal starting state, there can be no ideal trajectory.

Parameters

robotConfig The config to generate the ideal trajectory with if it has not already been generated

Returns: An optional containing the ideal trajectory if it exists, an empty optional otherwise

◆ getInitialHeading()

frc::Rotation2d pathplanner::PathPlannerPath::getInitialHeading ( ) const

inline

Get the initial heading, or direction of travel, at the start of the path.

Returns: Initial heading

◆ getPathPoses()

std::vector< frc::Pose2d > pathplanner::PathPlannerPath::getPathPoses ( ) const

inline

Get a list of poses representing every point in this path. This can be used to display a path on a field 2d widget, for example.

Returns: List of poses for each point in this path

◆ getPoint()

const PathPoint & pathplanner::PathPlannerPath::getPoint ( size_t index ) const

inline

Get a specific point along this path

Parameters

index Index of the point to get

Returns: The point at the given index

◆ getPointTowardsZones()

constexpr std::vector< PointTowardsZone > & pathplanner::PathPlannerPath::getPointTowardsZones ( )

inlineconstexpr

Get the point towards zones for this path

Returns: vector of this path's point towards zones

◆ getRotationTargets()

constexpr std::vector< RotationTarget > & pathplanner::PathPlannerPath::getRotationTargets ( )

inlineconstexpr

Get the rotation targets for this path

Returns: vector of this path's rotation targets

◆ getStartingDifferentialPose()

frc::Pose2d PathPlannerPath::getStartingDifferentialPose ( )

Get the differential pose for the start point of this path

Returns: Pose at the path's starting point

◆ getStartingHolonomicPose()

std::optional< frc::Pose2d > PathPlannerPath::getStartingHolonomicPose ( )

Get the holonomic pose for the start point of this path. If the path does not have an ideal starting state, this will return nullopt.

Returns: The ideal starting pose if an ideal starting state is present, nullopt otherwise

◆ getWaypoints()

constexpr std::vector< Waypoint > & pathplanner::PathPlannerPath::getWaypoints ( )

inlineconstexpr

Get the waypoints for this path

Returns: vector of this path's waypoints

◆ isChoreoPath()

constexpr bool pathplanner::PathPlannerPath::isChoreoPath ( ) const

inlineconstexpr

Check if this path is loaded from a Choreo trajectory

Returns: True if this path is from choreo, false otherwise

◆ isReversed()

constexpr bool pathplanner::PathPlannerPath::isReversed ( ) const

inlineconstexpr

Should the path be followed reversed (differential drive only)

Returns: True if reversed

◆ mirrorPath()

std::shared_ptr< PathPlannerPath > PathPlannerPath::mirrorPath ( )

Mirror a path to the other side of the current alliance. For example, if this path is on the right of the blue alliance side of the field, it will be mirrored to the left of the blue alliance side of the field.

Returns: The mirrored path

◆ numPoints()

size_t pathplanner::PathPlannerPath::numPoints ( ) const

inline

Get the number of points in this path

Returns: Number of points in the path

◆ waypointsFromPoses()

std::vector< Waypoint > PathPlannerPath::waypointsFromPoses ( std::vector< frc::Pose2d > poses )

static

Create the bezier waypoints necessary to create a path using a list of poses

Parameters

poses List of poses. Each pose represents one waypoint.

Returns: Bezier curve waypoints

The documentation for this class was generated from the following files:

src/main/native/include/pathplanner/lib/path/PathPlannerPath.h
src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ PathPlannerPath() [1/3]

◆ PathPlannerPath() [2/3]

◆ PathPlannerPath() [3/3]

Member Function Documentation

◆ bezierFromPoses()

◆ clearPathCache()

◆ flipPath()

◆ fromChoreoTrajectory() [1/2]

◆ fromChoreoTrajectory() [2/2]

◆ fromPathFile()

◆ fromPathPoints()

◆ getAllPathPoints()

◆ getConstraintZones()

◆ getEventMarkers()

◆ getGlobalConstraints()

◆ getGoalEndState()

◆ getIdealStartingState()

◆ getIdealTrajectory()

◆ getInitialHeading()

◆ getPathPoses()

◆ getPoint()

◆ getPointTowardsZones()

◆ getRotationTargets()

◆ getStartingDifferentialPose()

◆ getStartingHolonomicPose()

◆ getWaypoints()

◆ isChoreoPath()

◆ isReversed()

◆ mirrorPath()

◆ numPoints()

◆ waypointsFromPoses()