pathplanner::PathPlannerTrajectory Class Reference

Public Member Functions
	PathPlannerTrajectory (std::vector< PathPlannerTrajectoryState > states, std::vector< std::shared_ptr< Event > > events)
	PathPlannerTrajectory (std::vector< PathPlannerTrajectoryState > states)
	PathPlannerTrajectory (std::shared_ptr< PathPlannerPath > path, const frc::ChassisSpeeds &startingSpeeds, const frc::Rotation2d &startingRotation, const RobotConfig &config)
std::vector< std::shared_ptr< Event > >	getEvents ()
constexpr std::vector< PathPlannerTrajectoryState > &	getStates ()
PathPlannerTrajectoryState	getState (size_t index)
PathPlannerTrajectoryState	getInitialState ()
PathPlannerTrajectoryState	getEndState ()
units::second_t	getTotalTime ()
frc::Pose2d	getInitialPose ()
PathPlannerTrajectoryState	sample (const units::second_t time)
PathPlannerTrajectory	flip ()

Constructor & Destructor Documentation

PathPlannerTrajectory() [1/3]

pathplanner::PathPlannerTrajectory::PathPlannerTrajectory ( std::vector< PathPlannerTrajectoryState >  states, std::vector< std::shared_ptr< Event > >  events  )

inline

Create a trajectory with pre-generated states and list of events

Parameters

states	Pre-generated states
events	Events for this trajectory

PathPlannerTrajectory() [2/3]

pathplanner::PathPlannerTrajectory::PathPlannerTrajectory ( std::vector< PathPlannerTrajectoryState >  states )

inline

Create a trajectory with pre-generated states

Parameters

states

Pre-generated states

PathPlannerTrajectory() [3/3]

PathPlannerTrajectory::PathPlannerTrajectory	(	std::shared_ptr< PathPlannerPath >	path,
		const frc::ChassisSpeeds &	startingSpeeds,
		const frc::Rotation2d &	startingRotation,
		const RobotConfig &	config
	)

Generate a new trajectory for a given path

Parameters

path	The path to generate a trajectory for
startingSpeeds	The starting robot-relative chassis speeds of the robot
startingRotation	The starting field-relative rotation of the robot
config	The RobotConfig describing the robot

Member Function Documentation

flip()

PathPlannerTrajectory pathplanner::PathPlannerTrajectory::flip ( )

inline

Flip this trajectory for the other side of the field, maintaining a blue alliance origin

Returns

This trajectory with all states flipped to the other side of the field

getEndState()

PathPlannerTrajectoryState pathplanner::PathPlannerTrajectory::getEndState ( )

inline

Get the end state of the trajectory

Returns

The end state

getEvents()

std::vector< std::shared_ptr< Event > > pathplanner::PathPlannerTrajectory::getEvents ( )

inline

Get all the events to run while following this trajectory

Returns

Events in this trajectory

getInitialPose()

frc::Pose2d pathplanner::PathPlannerTrajectory::getInitialPose ( )

inline

Get the initial robot pose at the start of the trajectory

Returns

Pose of the robot at the initial state

getInitialState()

PathPlannerTrajectoryState pathplanner::PathPlannerTrajectory::getInitialState ( )

inline

Get the initial state of the trajectory

Returns

The initial state

getState()

PathPlannerTrajectoryState pathplanner::PathPlannerTrajectory::getState ( size_t  index )

inline

Get the goal state at the given index

Parameters

index

Index of the state to get

Returns

The state at the given index

getStates()

constexpr std::vector< PathPlannerTrajectoryState > & pathplanner::PathPlannerTrajectory::getStates ( )

inlineconstexpr

Get all of the pre-generated states in the trajectory

Returns

vector of all states

getTotalTime()

units::second_t pathplanner::PathPlannerTrajectory::getTotalTime ( )

inline

Get the total run time of the trajectory

Returns

Total run time in seconds

sample()

PathPlannerTrajectoryState PathPlannerTrajectory::sample

(

const units::second_t

time

)

Get the target state at the given point in time along the trajectory

Parameters

time	The time to sample the trajectory at in seconds

Returns

The target state

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

• src/main/native/include/pathplanner/lib/trajectory/PathPlannerTrajectory.h
• src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp