Package com.pathplanner.lib.util

Class PathPlannerLogging

java.lang.Object
com.pathplanner.lib.util.PathPlannerLogging
public class PathPlannerLogging extends Object
Utility class for handling custom logging callbacks

  • Constructor Details

    • PathPlannerLogging

      public PathPlannerLogging()

  • Method Details

    • setLogCurrentPoseCallback

      public static void setLogCurrentPoseCallback(Consumer<Pose2d> logCurrentPose)
      Set the logging callback for the current robot pose
      Parameters:
      logCurrentPose - Consumer that accepts the current robot pose. Can be null to disable logging this value.

    • setLogTargetPoseCallback

      public static void setLogTargetPoseCallback(Consumer<Pose2d> logTargetPose)
      Set the logging callback for the target robot pose
      Parameters:
      logTargetPose - Consumer that accepts the target robot pose. Can be null to disable logging this value.

    • setLogActivePathCallback

      public static void setLogActivePathCallback(Consumer<List<Pose2d>> logActivePath)
      Set the logging callback for the active path
      Parameters:
      logActivePath - Consumer that accepts the active path as a list of poses. Can be null to disable logging this value.

    • clearLoggingCallbacks

      public static void clearLoggingCallbacks()
      Disables all logging callbacks registered by this class.

    • logCurrentPose

      public static void logCurrentPose(Pose2d pose)
      Log the current robot pose. This is used internally.
      Parameters:
      pose - The current robot pose

    • logTargetPose

      public static void logTargetPose(Pose2d targetPose)
      Log the target robot pose. This is used internally.
      Parameters:
      targetPose - The target robot pose

    • logActivePath

      public static void logActivePath(PathPlannerPath path)
      Log the active path. This is used internally.
      Parameters:
      path - The active path