pathplanner::Waypoint Class Reference

Public Member Functions
constexpr	Waypoint (std::optional< frc::Translation2d > prevControl, frc::Translation2d anchor, std::optional< frc::Translation2d > nextControl)
Waypoint	flip () const

Static Public Member Functions
static Waypoint	autoControlPoints (frc::Translation2d anchor, frc::Rotation2d heading, std::optional< frc::Translation2d > prevAnchor, std::optional< frc::Translation2d > nextAnchor)
static Waypoint	fromJson (const wpi::json &waypointJson)

Public Attributes
std::optional< frc::Translation2d >	prevControl
frc::Translation2d	anchor
std::optional< frc::Translation2d >	nextControl

Constructor & Destructor Documentation

Waypoint()

constexpr pathplanner::Waypoint::Waypoint ( std::optional< frc::Translation2d >  prevControl, frc::Translation2d  anchor, std::optional< frc::Translation2d >  nextControl  )

inlineconstexpr

Create a waypoint from its anchor point and control points

Parameters

prevControl	The previous control point position
anchor	The anchor position
nextControl	The next control point position

Member Function Documentation

autoControlPoints()

Waypoint Waypoint::autoControlPoints ( frc::Translation2d  anchor, frc::Rotation2d  heading, std::optional< frc::Translation2d >  prevAnchor, std::optional< frc::Translation2d >  nextAnchor  )

static

Create a waypoint with auto calculated control points based on the positions of adjacent waypoints. This is used internally, and you probably shouldn't use this.

Parameters

anchor	The anchor point of the waypoint to create
heading	The heading of this waypoint
prevAnchor	The position of the previous anchor point. This can be nullopt for the start point
nextAnchor	The position of the next anchor point. This can be nullopt for the end point

Returns

Waypoint with auto calculated control points

flip()

Waypoint Waypoint::flip

(

)

const

Flip this waypoint to the other side of the field, maintaining a blue alliance origin

Returns

The flipped waypoint

fromJson()

Waypoint Waypoint::fromJson ( const wpi::json &  waypointJson )

static

Create a waypoint from JSON

Parameters

waypointJson

JSON object representing a waypoint

Returns

The waypoint created from JSON

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

• src/main/native/include/pathplanner/lib/path/Waypoint.h
• src/main/native/cpp/pathplanner/lib/path/Waypoint.cpp