pathplanner::Pathfinding Class Reference

Static Public Member Functions
static void	setPathfinder (std::unique_ptr< Pathfinder > pathfinder)
static void	ensureInitialized ()
static bool	isNewPathAvailable ()
static std::shared_ptr< PathPlannerPath >	getCurrentPath (PathConstraints constraints, GoalEndState goalEndState)
static void	setStartPosition (const frc::Translation2d &startPosition)
static void	setGoalPosition (const frc::Translation2d &goalPosition)
static void	setDynamicObstacles (const std::vector< std::pair< frc::Translation2d, frc::Translation2d > > &obs, const frc::Translation2d &currentRobotPos)

Member Function Documentation

ensureInitialized()

void Pathfinding::ensureInitialized ( )

static

Ensure that a pathfinding implementation has been chosen. If not, set it to the default.

getCurrentPath()

static std::shared_ptr< PathPlannerPath > pathplanner::Pathfinding::getCurrentPath ( PathConstraints  constraints, GoalEndState  goalEndState  )

inlinestatic

Get the most recently calculated path

Parameters

constraints	The path constraints to use when creating the path
goalEndState	The goal end state to use when creating the path

Returns

The PathPlannerPath created from the points calculated by the pathfinder

isNewPathAvailable()

static bool pathplanner::Pathfinding::isNewPathAvailable ( )

inlinestatic

Get if a new path has been calculated since the last time a path was retrieved

Returns

True if a new path is available

setDynamicObstacles()

static void pathplanner::Pathfinding::setDynamicObstacles ( const std::vector< std::pair< frc::Translation2d, frc::Translation2d > > &  obs, const frc::Translation2d &  currentRobotPos  )

inlinestatic

Set the dynamic obstacles that should be avoided while pathfinding.

Parameters

obs	A List of Translation2d pairs representing obstacles. Each Translation2d represents opposite corners of a bounding box.
currentRobotPos	The current position of the robot. This is needed to change the start position of the path if the robot is now within an obstacle.

setGoalPosition()

static void pathplanner::Pathfinding::setGoalPosition ( const frc::Translation2d &  goalPosition )

inlinestatic

Set the goal position to pathfind to

Parameters

goalPosition

Goal position on the field. f this is within an obstacle it will be moved to the nearest non-obstacle node.

setPathfinder()

static void pathplanner::Pathfinding::setPathfinder ( std::unique_ptr< Pathfinder >  pathfinder )

inlinestatic

Set the pathfinder that should be used by the path following commands

Parameters

pathfinder

The pathfinder to use

setStartPosition()

static void pathplanner::Pathfinding::setStartPosition ( const frc::Translation2d &  startPosition )

inlinestatic

Set the start position to pathfind from

Parameters

startPosition

Start position on the field. If this is within an obstacle it will be moved to the nearest non-obstacle node.

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

• src/main/native/include/pathplanner/lib/pathfinding/Pathfinding.h
• src/main/native/cpp/pathplanner/lib/pathfinding/Pathfinding.cpp