pathplanner::PathPlannerTrajectoryState Class Reference

Public Member Functions
PathPlannerTrajectoryState	interpolate (const PathPlannerTrajectoryState &endVal, const double t) const
PathPlannerTrajectoryState	reverse () const
PathPlannerTrajectoryState	flip () const
PathPlannerTrajectoryState	copyWithTime (units::second_t time) const

Public Attributes
units::second_t	time = 0_s
frc::ChassisSpeeds	fieldSpeeds
frc::Pose2d	pose
units::meters_per_second_t	linearVelocity = 0_mps
DriveFeedforwards	feedforwards
frc::Rotation2d	heading
units::meter_t	deltaPos = 0_m
frc::Rotation2d	deltaRot
std::vector< SwerveModuleTrajectoryState >	moduleStates
PathConstraints	constraints
double	waypointRelativePos = 0.0

Member Function Documentation

copyWithTime()

PathPlannerTrajectoryState PathPlannerTrajectoryState::copyWithTime

(

units::second_t

time

)

const

Copy this state and change the timestamp

Parameters

time	The new time to use

Returns

Copied state with the given time

flip()

PathPlannerTrajectoryState PathPlannerTrajectoryState::flip

(

)

const

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

Returns

This trajectory state flipped to the other side of the field

interpolate()

PathPlannerTrajectoryState PathPlannerTrajectoryState::interpolate	(	const PathPlannerTrajectoryState &	endVal,
		const double	t
	)		const

Interpolate between this state and the given state

Parameters

endVal	State to interpolate with
t	Interpolation factor (0.0-1.0)

Returns

Interpolated state

reverse()

PathPlannerTrajectoryState PathPlannerTrajectoryState::reverse

(

)

const

Get the state reversed, used for following a trajectory reversed with a differential drivetrain

Returns

The reversed state

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

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