Package com.pathplanner.lib.path

Class PathPoint

java.lang.Object

com.pathplanner.lib.path.PathPoint

public class PathPoint
extends Object

A point along a pathplanner path

Field Summary

Fields

Modifier and Type	Field	Description
PathConstraints	constraints	The constraints applied to this point
double	distanceAlongPath	The distance of this point along the path, in meters
double	maxV	The max velocity at this point
final Translation2d	position	The position of this point
RotationTarget	rotationTarget	The target rotation at this point
double	waypointRelativePos	The waypoint relative position of this point.

Constructor Summary

Constructors

Constructor	Description
PathPoint(Translation2d position)	Create a path point
PathPoint(Translation2d position, RotationTarget rotationTarget)	Create a path point
PathPoint(Translation2d position, RotationTarget rotationTarget, PathConstraints constraints)	Create a path point

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object o)
PathPoint	flip()	Flip this path point to the other side of the field, maintaining a blue alliance origin
int	hashCode()

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Field Details

position

public final Translation2d position

The position of this point

distanceAlongPath

public double distanceAlongPath

The distance of this point along the path, in meters

maxV

public double maxV

The max velocity at this point

rotationTarget

public RotationTarget rotationTarget

The target rotation at this point

constraints

public PathConstraints constraints

The constraints applied to this point

waypointRelativePos

public double waypointRelativePos

The waypoint relative position of this point. Used to determine proper event marker timing

Constructor Details

PathPoint

public PathPoint(Translation2d position,
 RotationTarget rotationTarget,
 PathConstraints constraints)

Create a path point

Parameters:

position - Position of the point

rotationTarget - Rotation target at this point

constraints - The constraints at this point

PathPoint

public PathPoint(Translation2d position,
 RotationTarget rotationTarget)

Create a path point

Parameters:

position - Position of the point

rotationTarget - Rotation target at this point

PathPoint

public PathPoint(Translation2d position)

Create a path point

Parameters:

position - Position of the point

Method Details

flip

public PathPoint flip()

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

Returns:

The flipped point

equals

public boolean equals(Object o)

Overrides:

equals in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object