Package com.pathplanner.lib.pathfinding
Interface Pathfinder
- All Known Implementing Classes:
LocalADStar
public interface Pathfinder
Interface for a pathfinder that can be used by PPLib's pathfinding commands
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Method Summary
Modifier and TypeMethodDescriptiongetCurrentPath
(PathConstraints constraints, GoalEndState goalEndState) Get the most recently calculated pathboolean
Get if a new path has been calculated since the last time a path was retrievedvoid
setDynamicObstacles
(List<Pair<Translation2d, Translation2d>> obs, Translation2d currentRobotPos) Set the dynamic obstacles that should be avoided while pathfinding.void
setGoalPosition
(Translation2d goalPosition) Set the goal position to pathfind tovoid
setStartPosition
(Translation2d startPosition) Set the start position to pathfind from
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Method Details
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isNewPathAvailable
boolean isNewPathAvailable()Get if a new path has been calculated since the last time a path was retrieved- Returns:
- True if a new path is available
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getCurrentPath
Get the most recently calculated path- Parameters:
constraints
- The path constraints to use when creating the pathgoalEndState
- The goal end state to use when creating the path- Returns:
- The PathPlannerPath created from the points calculated by the pathfinder
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setStartPosition
Set the start position to pathfind from- Parameters:
startPosition
- Start position on the field. If this is within an obstacle it will be moved to the nearest non-obstacle node.
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setGoalPosition
Set the goal position to pathfind to- Parameters:
goalPosition
- Goal position on the field. f this is within an obstacle it will be moved to the nearest non-obstacle node.
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setDynamicObstacles
void setDynamicObstacles(List<Pair<Translation2d, Translation2d>> obs, Translation2d currentRobotPos) Set the dynamic obstacles that should be avoided while pathfinding.- Parameters:
obs
- A List of Translation2d pairs representing obstacles. Each Translation2d represents opposite corners of a bounding box.currentRobotPos
- The current position of the robot. This is needed to change the start position of the path to properly avoid obstacles
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