pathplanner::PathfindingCommand Class Reference

Inheritance diagram for pathplanner::PathfindingCommand:

Public Member Functions
	PathfindingCommand (std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(const frc::ChassisSpeeds &, const DriveFeedforwards &)> output, std::shared_ptr< PathFollowingController > controller, RobotConfig robotConfig, std::function< bool()> shouldFlipPath, frc2::Requirements requirements)
	PathfindingCommand (frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(const frc::ChassisSpeeds &, const DriveFeedforwards &)> output, std::shared_ptr< PathFollowingController > controller, RobotConfig robotConfig, frc2::Requirements requirements)
void	Initialize () override
void	Execute () override
bool	IsFinished () override
void	End (bool interrupted) override

Constructor & Destructor Documentation

PathfindingCommand() [1/2]

PathfindingCommand::PathfindingCommand	(	std::shared_ptr< PathPlannerPath >	targetPath,
		PathConstraints	constraints,
		std::function< frc::Pose2d()>	poseSupplier,
		std::function< frc::ChassisSpeeds()>	speedsSupplier,
		std::function< void(const frc::ChassisSpeeds &, const DriveFeedforwards &)>	output,
		std::shared_ptr< PathFollowingController >	controller,
		RobotConfig	robotConfig,
		std::function< bool()>	shouldFlipPath,
		frc2::Requirements	requirements
	)

Constructs a new base pathfinding command that will generate a path towards the given path.

Parameters

targetPath	the path to pathfind to
constraints	the path constraints to use while pathfinding
poseSupplier	a supplier for the robot's current pose
speedsSupplier	a supplier for the robot's current robot relative speeds
output	Output function that accepts robot-relative ChassisSpeeds and feedforwards for each drive motor. If using swerve, these feedforwards will be in FL, FR, BL, BR order. If using a differential drive, they will be in L, R order.

NOTE: These feedforwards are assuming unoptimized module states. When you optimize your module states, you will need to reverse the feedforwards for modules that have been flipped

Parameters

controller	Path following controller that will be used to follow the path
robotConfig	The robot configuration
shouldFlipPath	Should the target path be flipped to the other side of the field? This will maintain a global blue alliance origin.
requirements	the subsystems required by this command

PathfindingCommand() [2/2]

PathfindingCommand::PathfindingCommand	(	frc::Pose2d	targetPose,
		PathConstraints	constraints,
		units::meters_per_second_t	goalEndVel,
		std::function< frc::Pose2d()>	poseSupplier,
		std::function< frc::ChassisSpeeds()>	speedsSupplier,
		std::function< void(const frc::ChassisSpeeds &, const DriveFeedforwards &)>	output,
		std::shared_ptr< PathFollowingController >	controller,
		RobotConfig	robotConfig,
		frc2::Requirements	requirements
	)

Constructs a new base pathfinding command that will generate a path towards the given pose.

Parameters

targetPose	the pose to pathfind to, the rotation component is only relevant for holonomic drive trains
constraints	the path constraints to use while pathfinding
goalEndVel	The goal end velocity when reaching the target pose
poseSupplier	a supplier for the robot's current pose
speedsSupplier	a supplier for the robot's current robot relative speeds
output	Output function that accepts robot-relative ChassisSpeeds and feedforwards for each drive motor. If using swerve, these feedforwards will be in FL, FR, BL, BR order. If using a differential drive, they will be in L, R order.

NOTE: These feedforwards are assuming unoptimized module states. When you optimize your module states, you will need to reverse the feedforwards for modules that have been flipped

Parameters

controller	Path following controller that will be used to follow the path
robotConfig	The robot configuration
requirements	the subsystems required by this command

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

• src/main/native/include/pathplanner/lib/commands/PathfindingCommand.h
• src/main/native/cpp/pathplanner/lib/commands/PathfindingCommand.cpp