pathplanner::PointTowardsZone Class Reference

Public Member Functions
	PointTowardsZone (std::string name, frc::Translation2d targetPosition, frc::Rotation2d rotationOffset, double minWaypointRelativePos, double maxWaypointRelativePos)
	PointTowardsZone (std::string name, frc::Translation2d targetPosition, double minWaypointRelativePos, double maxWaypointRelativePos)
constexpr const std::string &	getName ()
constexpr frc::Translation2d &	getTargetPosition ()
constexpr frc::Rotation2d &	getRotationOffset ()
constexpr double	getMinWaypointRelativePos () const
constexpr double	getMaxWaypointRelativePos () const
PointTowardsZone	flip () const
bool	operator== (const PointTowardsZone &other) const

Static Public Member Functions
static PointTowardsZone	fromJson (const wpi::json &json)

Constructor & Destructor Documentation

PointTowardsZone() [1/2]

pathplanner::PointTowardsZone::PointTowardsZone ( std::string  name, frc::Translation2d  targetPosition, frc::Rotation2d  rotationOffset, double  minWaypointRelativePos, double  maxWaypointRelativePos  )

inline

Create a new point towards zone

Parameters

name	The name of this zone. Used for point towards zone triggers
targetPosition	The target field position in meters
rotationOffset	A rotation offset to add on top of the angle to the target position. For example, if you want the robot to point away from the target position, use a rotation offset of 180 degrees
minWaypointRelativePos	Starting position of the zone
maxWaypointRelativePos	End position of the zone

PointTowardsZone() [2/2]

pathplanner::PointTowardsZone::PointTowardsZone ( std::string  name, frc::Translation2d  targetPosition, double  minWaypointRelativePos, double  maxWaypointRelativePos  )

inline

Create a new point towards zone

Parameters

name	The name of this zone. Used for point towards zone triggers
targetPosition	The target field position in meters
minWaypointRelativePos	Starting position of the zone
maxWaypointRelativePos	End position of the zone

Member Function Documentation

fromJson()

static PointTowardsZone pathplanner::PointTowardsZone::fromJson ( const wpi::json &  json )

inlinestatic

Create a point towards zone from json

Parameters

json	A json reference representing a point towards zone

Returns

The point towards zone defined by the given json object

getMaxWaypointRelativePos()

constexpr double pathplanner::PointTowardsZone::getMaxWaypointRelativePos ( ) const

inlineconstexpr

Get the end position of the zone

Returns

Waypoint relative end position

getMinWaypointRelativePos()

constexpr double pathplanner::PointTowardsZone::getMinWaypointRelativePos ( ) const

inlineconstexpr

Get the starting position of the zone

Returns

Waypoint relative starting position

getRotationOffset()

constexpr frc::Rotation2d & pathplanner::PointTowardsZone::getRotationOffset ( )

inlineconstexpr

Get the rotation offset

Returns

Rotation offset

getTargetPosition()

constexpr frc::Translation2d & pathplanner::PointTowardsZone::getTargetPosition ( )

inlineconstexpr

Get the target field position to point at

Returns

Target field position in meters

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

• src/main/native/include/pathplanner/lib/path/PointTowardsZone.h