Package com.pathplanner.lib.path

Record Class Waypoint

java.lang.Object

java.lang.Record

com.pathplanner.lib.path.Waypoint

Record Components:

prevControl - Previous control point

anchor - Anchor point

nextControl - Next control point

public record Waypoint(Translation2d prevControl, Translation2d anchor, Translation2d nextControl)
extends Record

Class used to describe a waypoint for a Bezier curve based path

Constructor Summary

Constructors

Constructor	Description
Waypoint(Translation2d prevControl, Translation2d anchor, Translation2d nextControl)	Creates an instance of a Waypoint record class.

Method Summary

Modifier and Type	Method	Description
Translation2d	anchor()	Returns the value of the anchor record component.
final boolean	equals(Object o)	Indicates whether some other object is "equal to" this one.
Waypoint	flip()	Flip this waypoint to the other side of the field, maintaining a blue alliance origin
final int	hashCode()	Returns a hash code value for this object.
Translation2d	nextControl()	Returns the value of the nextControl record component.
Translation2d	prevControl()	Returns the value of the prevControl record component.
final String	toString()	Returns a string representation of this record class.

Methods inherited from class java.lang.Object

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

Constructor Details

Waypoint

public Waypoint(Translation2d prevControl,
 Translation2d anchor,
 Translation2d nextControl)

Creates an instance of a Waypoint record class.

Parameters:

prevControl - the value for the prevControl record component

anchor - the value for the anchor record component

nextControl - the value for the nextControl record component

Method Details

flip

public Waypoint flip()

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

Returns:

The flipped waypoint

toString

public final String toString()

Returns a string representation of this record class. The representation contains the name of the class, followed by the name and value of each of the record components.

Specified by:

toString in class Record

Returns:

a string representation of this object

hashCode

public final int hashCode()

Returns a hash code value for this object. The value is derived from the hash code of each of the record components.

Specified by:

hashCode in class Record

Returns:

a hash code value for this object

equals

public final boolean equals(Object o)

Indicates whether some other object is "equal to" this one. The objects are equal if the other object is of the same class and if all the record components are equal. All components in this record class are compared with Objects::equals(Object,Object).

Specified by:

equals in class Record

Parameters:

o - the object with which to compare

Returns:

true if this object is the same as the o argument; false otherwise.

prevControl

public Translation2d prevControl()

Returns the value of the prevControl record component.

Returns:

the value of the prevControl record component

anchor

public Translation2d anchor()

Returns the value of the anchor record component.

Returns:

the value of the anchor record component

nextControl

public Translation2d nextControl()

Returns the value of the nextControl record component.

Returns:

the value of the nextControl record component