Index (pathplannerlib API)

A B C D E F G H I J K L M N O P Q R S T U V W X Y Z
All Classes and Interfaces|All Packages|Serialized Form

A

accelerations() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Get the linear accelerations at the wheels
accelerationsMPSSq() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Returns the value of the accelerationsMPSSq record component.
activePath(String) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that is high when a certain path is being followed
anchor() - Method in record class com.pathplanner.lib.path.Waypoint: Returns the value of the anchor record component.
apply(In1, In2, In3) - Method in interface com.pathplanner.lib.auto.AutoBuilder.TriFunction: Apply the inputs to this function
AutoBuilder - Class in com.pathplanner.lib.auto: Utility class used to build auto routines
AutoBuilder() - Constructor for class com.pathplanner.lib.auto.AutoBuilder
AutoBuilder.TriFunction<In1,In2,In3,Out> - Interface in com.pathplanner.lib.auto: Functional interface for a function that takes 3 inputs
AutoBuilderException - Exception in com.pathplanner.lib.auto: An exception while building autos
AutoBuilderException(String) - Constructor for exception com.pathplanner.lib.auto.AutoBuilderException: Create a new auto builder exception

B

beforeEvent(String, double) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that will be activated a given time before an event is reached.
beforeEvent(String, Time) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that will be activated a given time before an event is reached.
bezierFromPoses(Pose2d...) - Static method in class com.pathplanner.lib.path.PathPlannerPath: Deprecated, for removal: This API element is subject to removal in a future version.
Renamed to waypointsFromPoses
bezierFromPoses(List<Pose2d>) - Static method in class com.pathplanner.lib.path.PathPlannerPath: Deprecated, for removal: This API element is subject to removal in a future version.
Renamed to waypointsFromPoses
buildAuto(String) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Builds an auto command for the given auto name.
buildAutoChooser() - Static method in class com.pathplanner.lib.auto.AutoBuilder: Create and populate a sendable chooser with all PathPlannerAutos in the project.
buildAutoChooser(String) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Create and populate a sendable chooser with all PathPlannerAutos in the project
buildAutoChooserWithOptionsModifier(String, Function<Stream<PathPlannerAuto>, Stream<PathPlannerAuto>>) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Create and populate a sendable chooser with all PathPlannerAutos in the project
buildAutoChooserWithOptionsModifier(Function<Stream<PathPlannerAuto>, Stream<PathPlannerAuto>>) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Create and populate a sendable chooser with all PathPlannerAutos in the project.

C

calculateRadius(Translation2d, Translation2d, Translation2d) - Static method in class com.pathplanner.lib.util.GeometryUtil: Calculate the curve radius given 3 points on the curve
calculateRobotRelativeSpeeds(Pose2d, PathPlannerTrajectoryState) - Method in interface com.pathplanner.lib.controllers.PathFollowingController: Calculates the next output of the path following controller
calculateRobotRelativeSpeeds(Pose2d, PathPlannerTrajectoryState) - Method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Calculates the next output of the path following controller
calculateRobotRelativeSpeeds(Pose2d, PathPlannerTrajectoryState) - Method in class com.pathplanner.lib.controllers.PPLTVController: Calculates the next output of the path following controller
cancelCommand(Command) - Method in class com.pathplanner.lib.events.EventScheduler: Cancel a command on this scheduler.
CancelCommandEvent - Class in com.pathplanner.lib.events: Event that will cancel a command within the EventScheduler
CancelCommandEvent(double, Command) - Constructor for class com.pathplanner.lib.events.CancelCommandEvent: Create an event to cancel a command
CancelCommandEvent(Time, Command) - Constructor for class com.pathplanner.lib.events.CancelCommandEvent: Create an event to cancel a command
cancelEvent(EventScheduler) - Method in class com.pathplanner.lib.events.CancelCommandEvent
cancelEvent(EventScheduler) - Method in class com.pathplanner.lib.events.Event: Cancel this event.
cancelEvent(EventScheduler) - Method in class com.pathplanner.lib.events.OneShotTriggerEvent
cancelEvent(EventScheduler) - Method in class com.pathplanner.lib.events.PointTowardsZoneEvent
cancelEvent(EventScheduler) - Method in class com.pathplanner.lib.events.ScheduleCommandEvent
cancelEvent(EventScheduler) - Method in class com.pathplanner.lib.events.TriggerEvent
chassisForcesToWheelForceVectors(ChassisSpeeds) - Method in class com.pathplanner.lib.config.RobotConfig: Convert chassis forces (passed as ChassisSpeeds) to individual wheel force vectors
clearCache() - Static method in class com.pathplanner.lib.path.PathPlannerPath: Clear the cache of previously loaded paths.
clearFeedbackOverrides() - Static method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Clear all feedback overrides and return to purely using path following error for feedback
clearRotationFeedbackOverride() - Static method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Stop overriding the rotation feedback, and return to calculating it based on path following error.
clearXFeedbackOverride() - Static method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Stop overriding the X axis feedback, and return to calculating it based on path following error.
clearXYFeedbackOverride() - Static method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Stop overriding the X and Y axis feedback, and return to calculating them based on path following error.
clearYFeedbackOverride() - Static method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Stop overriding the Y axis feedback, and return to calculating it based on path following error.
com.pathplanner.lib.auto - package com.pathplanner.lib.auto
com.pathplanner.lib.commands - package com.pathplanner.lib.commands
com.pathplanner.lib.config - package com.pathplanner.lib.config
com.pathplanner.lib.controllers - package com.pathplanner.lib.controllers
com.pathplanner.lib.events - package com.pathplanner.lib.events
com.pathplanner.lib.path - package com.pathplanner.lib.path
com.pathplanner.lib.pathfinding - package com.pathplanner.lib.pathfinding
com.pathplanner.lib.trajectory - package com.pathplanner.lib.trajectory
com.pathplanner.lib.util - package com.pathplanner.lib.util
com.pathplanner.lib.util.swerve - package com.pathplanner.lib.util.swerve
command() - Method in record class com.pathplanner.lib.path.EventMarker: Returns the value of the command record component.
commandFromJson(JSONObject, boolean) - Static method in class com.pathplanner.lib.auto.CommandUtil: Builds a command from the given JSON object.
CommandUtil - Class in com.pathplanner.lib.auto: Utility class for building commands used in autos
CommandUtil() - Constructor for class com.pathplanner.lib.auto.CommandUtil
compareTo(LocalADStar.GridPosition) - Method in record class com.pathplanner.lib.pathfinding.LocalADStar.GridPosition
condition(BooleanSupplier) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger with a custom condition.
configure(Supplier<Pose2d>, Consumer<Pose2d>, Supplier<ChassisSpeeds>, BiConsumer<ChassisSpeeds, DriveFeedforwards>, PathFollowingController, RobotConfig, BooleanSupplier, Subsystem...) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Configures the AutoBuilder for using PathPlanner's built-in commands.
configure(Supplier<Pose2d>, Consumer<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, PathFollowingController, RobotConfig, BooleanSupplier, Subsystem...) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Configures the AutoBuilder for using PathPlanner's built-in commands.
configureCustom(Function<PathPlannerPath, Command>, Supplier<Pose2d>, Consumer<Pose2d>, boolean) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Configures the AutoBuilder with custom path following command builder.
configureCustom(Function<PathPlannerPath, Command>, Supplier<Pose2d>, Consumer<Pose2d>, BooleanSupplier, boolean) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Configures the AutoBuilder with custom path following command builder.
constraints - Variable in class com.pathplanner.lib.path.PathPoint: The constraints applied to this point
constraints - Variable in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: The PathConstraints for this state
constraints() - Method in record class com.pathplanner.lib.path.ConstraintsZone: Returns the value of the constraints record component.
ConstraintsZone - Record Class in com.pathplanner.lib.path: A zone on a path with different kinematic constraints
ConstraintsZone(double, double, PathConstraints) - Constructor for record class com.pathplanner.lib.path.ConstraintsZone: Creates an instance of a ConstraintsZone record class.
copyWithTime(double) - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: Copy this state and change the timestamp
copyWithTimestamp(double) - Method in class com.pathplanner.lib.events.CancelCommandEvent
copyWithTimestamp(double) - Method in class com.pathplanner.lib.events.Event: Copy this event with a different timestamp
copyWithTimestamp(double) - Method in class com.pathplanner.lib.events.OneShotTriggerEvent
copyWithTimestamp(double) - Method in class com.pathplanner.lib.events.PointTowardsZoneEvent
copyWithTimestamp(double) - Method in class com.pathplanner.lib.events.ScheduleCommandEvent
copyWithTimestamp(double) - Method in class com.pathplanner.lib.events.TriggerEvent
copyWithTimestamp(Time) - Method in class com.pathplanner.lib.events.Event: Copy this event with a different timestamp
cubicLerp(Translation2d, Translation2d, Translation2d, Translation2d, double) - Static method in class com.pathplanner.lib.util.GeometryUtil: Cubic interpolation between Translation2ds
currentPathName - Static variable in class com.pathplanner.lib.commands.PathPlannerAuto: The currently running path name.

D

deltaPos - Variable in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: The distance between this state and the previous state
deltaPos - Variable in class com.pathplanner.lib.trajectory.SwerveModuleTrajectoryState: Difference in module position between this state and the previous state
deltaRot - Variable in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: The difference in rotation between this state and the previous state
distanceAlongPath - Variable in class com.pathplanner.lib.path.PathPoint: The distance of this point along the path, in meters
distanceFromEvent(String, double) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that will be activated when the robot is within a given distance from the start of an event
distanceFromEvent(String, Distance) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that will be activated when the robot is within a given distance from the start of an event
distanceFromEventEnd(String, double) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that will be activated when the robot is within a given distance from the end of an event
distanceFromEventEnd(String, Distance) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that will be activated when the robot is within a given distance from the end of an event
driveCurrentLimit - Variable in class com.pathplanner.lib.config.ModuleConfig: The current limit of the drive motor, in Amps
DriveFeedforwards - Record Class in com.pathplanner.lib.util: Collection of different feedforward values for each drive module.
DriveFeedforwards(double[], double[], double[], double[], double[]) - Constructor for record class com.pathplanner.lib.util.DriveFeedforwards: Creates an instance of a DriveFeedforwards record class.
DriveFeedforwards(LinearAcceleration[], Force[], Current[], Force[], Force[]) - Constructor for record class com.pathplanner.lib.util.DriveFeedforwards: Collection of different feedforward values for each drive module.
driveMotor - Variable in class com.pathplanner.lib.config.ModuleConfig: The DCMotor representing the drive gearbox, including gear reduction

E

enableCompetitionMode() - Static method in class com.pathplanner.lib.util.PPLibTelemetry: Enable competition mode.
end() - Method in class com.pathplanner.lib.events.EventScheduler: End commands currently/events currently being handled by this scheduler.
end(boolean) - Method in class com.pathplanner.lib.commands.FollowPathCommand
end(boolean) - Method in class com.pathplanner.lib.commands.PathfindingCommand
end(boolean) - Method in class com.pathplanner.lib.commands.PathPlannerAuto
endPosition() - Method in record class com.pathplanner.lib.path.EventMarker: Returns the value of the endPosition record component.
ensureInitialized() - Static method in class com.pathplanner.lib.pathfinding.Pathfinding: Ensure that a pathfinding implementation has been chosen.
equals(Object) - Method in record class com.pathplanner.lib.path.ConstraintsZone: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in record class com.pathplanner.lib.path.EventMarker: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in record class com.pathplanner.lib.path.GoalEndState: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in record class com.pathplanner.lib.path.IdealStartingState: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in record class com.pathplanner.lib.path.PathConstraints: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in class com.pathplanner.lib.path.PathPlannerPath
equals(Object) - Method in class com.pathplanner.lib.path.PathPoint
equals(Object) - Method in record class com.pathplanner.lib.path.PointTowardsZone: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in record class com.pathplanner.lib.path.RotationTarget: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in record class com.pathplanner.lib.path.Waypoint: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in record class com.pathplanner.lib.pathfinding.LocalADStar.GridPosition: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in record class com.pathplanner.lib.util.swerve.SwerveSetpoint: Indicates whether some other object is "equal to" this one.
event(String) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create an EventTrigger that will be polled by this auto instead of globally across all path following commands
Event - Class in com.pathplanner.lib.events: Base class for an event to be handled while path following
Event(double) - Constructor for class com.pathplanner.lib.events.Event: Create a new event
Event(Time) - Constructor for class com.pathplanner.lib.events.Event: Create a new event
EventMarker - Record Class in com.pathplanner.lib.path: Position along the path that will trigger a command when reached
EventMarker(String, double) - Constructor for record class com.pathplanner.lib.path.EventMarker: Create a new event marker
EventMarker(String, double, double) - Constructor for record class com.pathplanner.lib.path.EventMarker: Create a new event marker
EventMarker(String, double, double, Command) - Constructor for record class com.pathplanner.lib.path.EventMarker: Creates an instance of a EventMarker record class.
EventMarker(String, double, Command) - Constructor for record class com.pathplanner.lib.path.EventMarker: Create a new event marker
EventScheduler - Class in com.pathplanner.lib.events: Scheduler for running events while following a trajectory
EventScheduler() - Constructor for class com.pathplanner.lib.events.EventScheduler: Create a new EventScheduler
EventTrigger - Class in com.pathplanner.lib.events: A trigger that will be controlled by the placement of event markers/zones in a PathPlannerTrajectory
EventTrigger(EventLoop, String) - Constructor for class com.pathplanner.lib.events.EventTrigger: Create a new EventTrigger that gets polled by the given event loop instead of the EventScheduler
EventTrigger(String) - Constructor for class com.pathplanner.lib.events.EventTrigger: Create a new EventTrigger.
execute() - Method in class com.pathplanner.lib.commands.FollowPathCommand
execute() - Method in class com.pathplanner.lib.commands.PathfindingCommand
execute() - Method in class com.pathplanner.lib.commands.PathPlannerAuto
execute(double) - Method in class com.pathplanner.lib.events.EventScheduler: Run the scheduler.

F

feedforwards - Variable in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: The feedforwards for each module
feedforwards() - Method in record class com.pathplanner.lib.util.swerve.SwerveSetpoint: Returns the value of the feedforwards record component.
fieldAngle - Variable in class com.pathplanner.lib.trajectory.SwerveModuleTrajectoryState: Field relative angle of the swerve module
fieldPos - Variable in class com.pathplanner.lib.trajectory.SwerveModuleTrajectoryState: Position of this module on the field
fieldSizeX - Static variable in class com.pathplanner.lib.util.FlippingUtil: The X size or length of the current field in meters
fieldSizeY - Static variable in class com.pathplanner.lib.util.FlippingUtil: The Y size or width of the current field in meters
fieldSpeeds - Variable in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: Field-relative chassis speeds at this state
FileVersionException - Exception in com.pathplanner.lib.util: Exception for a mismatch between expected and actual file versions
FileVersionException(String, String, String) - Constructor for exception com.pathplanner.lib.util.FileVersionException: Create a new FileVersionException
flip() - Method in record class com.pathplanner.lib.path.GoalEndState: Flip the goal end state for the other side of the field, maintaining a blue alliance origin
flip() - Method in record class com.pathplanner.lib.path.IdealStartingState: Flip the ideal starting state for the other side of the field, maintaining a blue alliance origin
flip() - Method in class com.pathplanner.lib.path.PathPoint: Flip this path point to the other side of the field, maintaining a blue alliance origin
flip() - Method in record class com.pathplanner.lib.path.PointTowardsZone: Flip this point towards zone to the other side of the field, maintaining a blue alliance origin
flip() - Method in record class com.pathplanner.lib.path.RotationTarget: Flip a rotation target for the other side of the field, maintaining a blue alliance origin
flip() - Method in record class com.pathplanner.lib.path.Waypoint: Flip this waypoint to the other side of the field, maintaining a blue alliance origin
flip() - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Flip this trajectory for the other side of the field, maintaining a blue alliance origin
flip() - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: Flip this trajectory state for the other side of the field, maintaining a blue alliance origin
flip() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Flip the feedforwards for the other side of the field.
flipFeedforwards(double[]) - Static method in class com.pathplanner.lib.util.FlippingUtil: Flip an array of drive feedforwards for the other side of the field.
flipFeedforwardXs(double[]) - Static method in class com.pathplanner.lib.util.FlippingUtil: Flip an array of drive feedforward X components for the other side of the field.
flipFeedforwardYs(double[]) - Static method in class com.pathplanner.lib.util.FlippingUtil: Flip an array of drive feedforward Y components for the other side of the field.
flipFieldPose(Pose2d) - Static method in class com.pathplanner.lib.util.FlippingUtil: Flip a field pose to the other side of the field, maintaining a blue alliance origin
flipFieldPosition(Translation2d) - Static method in class com.pathplanner.lib.util.FlippingUtil: Flip a field position to the other side of the field, maintaining a blue alliance origin
flipFieldRotation(Rotation2d) - Static method in class com.pathplanner.lib.util.FlippingUtil: Flip a field rotation to the other side of the field, maintaining a blue alliance origin
flipFieldSpeeds(ChassisSpeeds) - Static method in class com.pathplanner.lib.util.FlippingUtil: Flip field relative chassis speeds for the other side of the field, maintaining a blue alliance origin
flipPath() - Method in class com.pathplanner.lib.path.PathPlannerPath: Flip a path to the other side of the field, maintaining a global blue alliance origin
FlippingUtil - Class in com.pathplanner.lib.util: Utility class for flipping positions/rotations to the other side of the field
FlippingUtil() - Constructor for class com.pathplanner.lib.util.FlippingUtil
FlippingUtil.FieldSymmetry - Enum Class in com.pathplanner.lib.util: Enum representing the different types of field symmetry
followPath(PathPlannerPath) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Builds a command to follow a path.
FollowPathCommand - Class in com.pathplanner.lib.commands: Base command for following a path
FollowPathCommand(PathPlannerPath, Supplier<Pose2d>, Supplier<ChassisSpeeds>, BiConsumer<ChassisSpeeds, DriveFeedforwards>, PathFollowingController, RobotConfig, BooleanSupplier, Subsystem...) - Constructor for class com.pathplanner.lib.commands.FollowPathCommand: Construct a base path following command
fromChoreoTrajectory(String) - Static method in class com.pathplanner.lib.path.PathPlannerPath: Load a Choreo trajectory as a PathPlannerPath
fromChoreoTrajectory(String, int) - Static method in class com.pathplanner.lib.path.PathPlannerPath: Load a Choreo trajectory as a PathPlannerPath
fromGUISettings() - Static method in class com.pathplanner.lib.config.RobotConfig: Load the robot config from the shared settings file created by the GUI
fromPathFile(String) - Static method in class com.pathplanner.lib.path.PathPlannerPath: Load a path from a path file in storage
fromPathPoints(List<PathPoint>, PathConstraints, GoalEndState) - Static method in class com.pathplanner.lib.path.PathPlannerPath: Create a path with pre-generated points.

G

generateSetpoint(SwerveSetpoint, ChassisSpeeds, double) - Method in class com.pathplanner.lib.util.swerve.SwerveSetpointGenerator: Generate a new setpoint.
generateTrajectory(ChassisSpeeds, Rotation2d, RobotConfig) - Method in class com.pathplanner.lib.path.PathPlannerPath: Generate a trajectory for this path.
GeometryUtil - Class in com.pathplanner.lib.util: Utility class for various geometry functions used during generation
GeometryUtil() - Constructor for class com.pathplanner.lib.util.GeometryUtil
getAllAutoNames() - Static method in class com.pathplanner.lib.auto.AutoBuilder: Get a list of all auto names in the project
getAllPathPoints() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get all the path points in this path
getCommand(String) - Static method in class com.pathplanner.lib.auto.NamedCommands: Returns the command with the given name.
getConstraintZones() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get the constraint zones for this path
getCurrentPath(PathConstraints, GoalEndState) - Method in class com.pathplanner.lib.pathfinding.LocalADStar: Get the most recently calculated path
getCurrentPath(PathConstraints, GoalEndState) - Method in interface com.pathplanner.lib.pathfinding.Pathfinder: Get the most recently calculated path
getCurrentPath(PathConstraints, GoalEndState) - Static method in class com.pathplanner.lib.pathfinding.Pathfinding: Get the most recently calculated path
getCurrentPose() - Static method in class com.pathplanner.lib.auto.AutoBuilder: Get the current robot pose
getEndState() - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Get the end state of the trajectory
getEventLoop() - Static method in class com.pathplanner.lib.events.EventScheduler: Get the event loop used to poll global event triggers
getEventMarkers() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get all the event markers for this path
getEventName() - Method in class com.pathplanner.lib.events.OneShotTriggerEvent: Get the event name for this event
getEventName() - Method in class com.pathplanner.lib.events.TriggerEvent: Get the event name for this event
getEvents() - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Get all the events to run while following this trajectory
getGlobalConstraints() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get the global constraints for this path
getGoalEndState() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get the goal end state of this path
getIdealStartingState() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get the ideal starting state of this path
getIdealTrajectory(RobotConfig) - Method in class com.pathplanner.lib.path.PathPlannerPath: If possible, get the ideal trajectory for this path.
getInitialHeading() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get the initial heading, or direction of travel, at the start of the path.
getInitialPose() - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Get the initial robot pose at the start of the trajectory
getInitialState() - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Get the initial state of the trajectory
getPathGroupFromAutoFile(String) - Static method in class com.pathplanner.lib.commands.PathPlannerAuto: Get a list of every path in the given auto (depth first)
getPathPoses() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get a list of poses representing every point in this path.
getPoint(int) - Method in class com.pathplanner.lib.path.PathPlannerPath: Get a specific point along this path
getPointTowardsZones() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get the point towards zones for this path
getRotationTargets() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get the rotation targets for this path
getSchedulerRequirements(PathPlannerPath) - Static method in class com.pathplanner.lib.events.EventScheduler: Get the event requirements for the given path
getStartingDifferentialPose() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get the differential pose for the start point of this path.
getStartingHolonomicPose() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get the holonomic pose for the start point of this path.
getStartingPose() - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Get the starting pose of this auto, relative to a blue alliance origin.
getState(int) - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Get the goal state at the given index
getStates() - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Get all the pre-generated states in the trajectory
getTimestamp() - Method in class com.pathplanner.lib.events.Event: Get the trajectory timestamp for this event
getTimestampSeconds() - Method in class com.pathplanner.lib.events.Event: Get the trajectory timestamp for this event
getTotalTime() - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Get the total run time of the trajectory
getTotalTimeSeconds() - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Get the total run time of the trajectory
getValue() - Method in class com.pathplanner.lib.events.TriggerEvent: Get whether this event will set the trigger high or low
getWaypoints() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get the waypoints for this path
GoalEndState - Record Class in com.pathplanner.lib.path: Describes the goal end state of the robot when finishing a path
GoalEndState(double, Rotation2d) - Constructor for record class com.pathplanner.lib.path.GoalEndState: Creates an instance of a GoalEndState record class.
GoalEndState(LinearVelocity, Rotation2d) - Constructor for record class com.pathplanner.lib.path.GoalEndState: Describes the goal end state of the robot when finishing a path
GridPosition(int, int) - Constructor for record class com.pathplanner.lib.pathfinding.LocalADStar.GridPosition: Creates an instance of a GridPosition record class.

H

handleEvent(EventScheduler) - Method in class com.pathplanner.lib.events.CancelCommandEvent
handleEvent(EventScheduler) - Method in class com.pathplanner.lib.events.Event: Handle this event
handleEvent(EventScheduler) - Method in class com.pathplanner.lib.events.OneShotTriggerEvent
handleEvent(EventScheduler) - Method in class com.pathplanner.lib.events.PointTowardsZoneEvent: Handle this event
handleEvent(EventScheduler) - Method in class com.pathplanner.lib.events.ScheduleCommandEvent
handleEvent(EventScheduler) - Method in class com.pathplanner.lib.events.TriggerEvent: Handle this event
hasCommand(String) - Static method in class com.pathplanner.lib.auto.NamedCommands: Returns whether a command with the given name has been registered.
hashCode() - Method in record class com.pathplanner.lib.path.ConstraintsZone: Returns a hash code value for this object.
hashCode() - Method in record class com.pathplanner.lib.path.EventMarker: Returns a hash code value for this object.
hashCode() - Method in record class com.pathplanner.lib.path.GoalEndState: Returns a hash code value for this object.
hashCode() - Method in record class com.pathplanner.lib.path.IdealStartingState: Returns a hash code value for this object.
hashCode() - Method in record class com.pathplanner.lib.path.PathConstraints: Returns a hash code value for this object.
hashCode() - Method in class com.pathplanner.lib.path.PathPlannerPath
hashCode() - Method in class com.pathplanner.lib.path.PathPoint
hashCode() - Method in record class com.pathplanner.lib.path.PointTowardsZone: Returns a hash code value for this object.
hashCode() - Method in record class com.pathplanner.lib.path.RotationTarget: Returns a hash code value for this object.
hashCode() - Method in record class com.pathplanner.lib.path.Waypoint: Returns a hash code value for this object.
hashCode() - Method in record class com.pathplanner.lib.pathfinding.LocalADStar.GridPosition: Returns a hash code value for this object.
hashCode() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Returns a hash code value for this object.
hashCode() - Method in record class com.pathplanner.lib.util.swerve.SwerveSetpoint: Returns a hash code value for this object.
heading - Variable in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: The field-relative heading, or direction of travel, at this state
hotReload(JSONObject) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Reloads the autonomous routine with the given JSON object and updates the requirements of this command.
hotReload(JSONObject) - Method in class com.pathplanner.lib.path.PathPlannerPath: Hot reload the path.

I

IdealStartingState - Record Class in com.pathplanner.lib.path: Describes the ideal starting state of the robot when finishing a path
IdealStartingState(double, Rotation2d) - Constructor for record class com.pathplanner.lib.path.IdealStartingState: Creates an instance of a IdealStartingState record class.
IdealStartingState(LinearVelocity, Rotation2d) - Constructor for record class com.pathplanner.lib.path.IdealStartingState: Describes the ideal starting state of the robot when finishing a path
inFieldArea(Translation2d, Translation2d) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that will be high when the robot is within a given area on the field.
inFieldAreaAutoFlipped(Translation2d, Translation2d) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that will be high when the robot is within a given area on the field.
initialize() - Method in class com.pathplanner.lib.commands.FollowPathCommand
initialize() - Method in class com.pathplanner.lib.commands.PathfindingCommand
initialize() - Method in class com.pathplanner.lib.commands.PathPlannerAuto
initialize(PathPlannerTrajectory) - Method in class com.pathplanner.lib.events.EventScheduler: Initialize the EventScheduler for the given trajectory.
interpolate(PathPlannerTrajectoryState, double) - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: Interpolate between this state and the given state
interpolate(DriveFeedforwards, double) - Method in record class com.pathplanner.lib.util.DriveFeedforwards
isChoreoPath() - Method in class com.pathplanner.lib.path.PathPlannerPath: Check if this path is loaded from a Choreo trajectory
isConfigured() - Static method in class com.pathplanner.lib.auto.AutoBuilder: Returns whether the AutoBuilder has been configured.
isFinished() - Method in class com.pathplanner.lib.commands.FollowPathCommand
isFinished() - Method in class com.pathplanner.lib.commands.PathfindingCommand
isFinished() - Method in class com.pathplanner.lib.commands.PathPlannerAuto
isHolonomic - Variable in class com.pathplanner.lib.config.RobotConfig: Is the robot holonomic?
isHolonomic() - Static method in class com.pathplanner.lib.auto.AutoBuilder: Get if AutoBuilder was configured for a holonomic drive train
isHolonomic() - Method in interface com.pathplanner.lib.controllers.PathFollowingController: Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.
isHolonomic() - Method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.
isHolonomic() - Method in class com.pathplanner.lib.controllers.PPLTVController: Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.
isNewPathAvailable() - Method in class com.pathplanner.lib.pathfinding.LocalADStar: Get if a new path has been calculated since the last time a path was retrieved
isNewPathAvailable() - Method in interface com.pathplanner.lib.pathfinding.Pathfinder: Get if a new path has been calculated since the last time a path was retrieved
isNewPathAvailable() - Static method in class com.pathplanner.lib.pathfinding.Pathfinding: Get if a new path has been calculated since the last time a path was retrieved
isPathfindingConfigured() - Static method in class com.pathplanner.lib.auto.AutoBuilder: Returns whether the AutoBuilder has been configured for pathfinding.
isReversed() - Method in class com.pathplanner.lib.path.PathPlannerPath: Should the path be followed reversed (differential drive only)
isRunning() - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that is high when this auto is running, and low when it is not running
iZone - Variable in class com.pathplanner.lib.config.PIDConstants: Integral range

J

JSONUtil - Class in com.pathplanner.lib.util: Utility class for creating different objects from JSON
JSONUtil() - Constructor for class com.pathplanner.lib.util.JSONUtil

K

kD - Variable in class com.pathplanner.lib.config.PIDConstants: D
kI - Variable in class com.pathplanner.lib.config.PIDConstants: I
kMirrored - Enum constant in enum class com.pathplanner.lib.util.FlippingUtil.FieldSymmetry: Field is mirrored vertically over the center of the field
kP - Variable in class com.pathplanner.lib.config.PIDConstants: P
kRotational - Enum constant in enum class com.pathplanner.lib.util.FlippingUtil.FieldSymmetry: Field is rotationally symmetric.

L

linearForces() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Get the linear forces at the wheels
linearForcesNewtons() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Returns the value of the linearForcesNewtons record component.
linearVelocity - Variable in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: The linear velocity at this state in m/s
LocalADStar - Class in com.pathplanner.lib.pathfinding: Implementation of AD* running locally in a background thread
LocalADStar() - Constructor for class com.pathplanner.lib.pathfinding.LocalADStar: Create a new pathfinder that runs AD* locally in a background thread
LocalADStar.GridPosition - Record Class in com.pathplanner.lib.pathfinding: Represents a node in the pathfinding grid
logActivePath(PathPlannerPath) - Static method in class com.pathplanner.lib.util.PathPlannerLogging: Log the active path.
logCurrentPose(Pose2d) - Static method in class com.pathplanner.lib.util.PathPlannerLogging: Log the current robot pose.
logTargetPose(Pose2d) - Static method in class com.pathplanner.lib.util.PathPlannerLogging: Log the target robot pose.

M

massKG - Variable in class com.pathplanner.lib.config.RobotConfig: The mass of the robot, including bumpers and battery, in KG
maxAcceleration() - Method in record class com.pathplanner.lib.path.PathConstraints: Get the max linear acceleration
maxAccelerationMPSSq() - Method in record class com.pathplanner.lib.path.PathConstraints: Returns the value of the maxAccelerationMPSSq record component.
maxAngularAcceleration() - Method in record class com.pathplanner.lib.path.PathConstraints: Get the max angular acceleration
maxAngularAccelerationRadPerSecSq() - Method in record class com.pathplanner.lib.path.PathConstraints: Returns the value of the maxAngularAccelerationRadPerSecSq record component.
maxAngularVelocity() - Method in record class com.pathplanner.lib.path.PathConstraints: Get the max angular velocity
maxAngularVelocityRadPerSec() - Method in record class com.pathplanner.lib.path.PathConstraints: Returns the value of the maxAngularVelocityRadPerSec record component.
maxDriveVelocityMPS - Variable in class com.pathplanner.lib.config.ModuleConfig: The max RPM that the drive motor can reach while actually driving the robot at full output.
maxDriveVelocityRadPerSec - Variable in class com.pathplanner.lib.config.ModuleConfig: Max drive motor velocity in MPS
maxPosition() - Method in record class com.pathplanner.lib.path.ConstraintsZone: Returns the value of the maxPosition record component.
maxPosition() - Method in record class com.pathplanner.lib.path.PointTowardsZone: Returns the value of the maxPosition record component.
maxTorqueFriction - Variable in class com.pathplanner.lib.config.RobotConfig: The maximum torque a drive module can apply without slipping the wheels
maxV - Variable in class com.pathplanner.lib.path.PathPoint: The max velocity at this point
maxVelocity() - Method in record class com.pathplanner.lib.path.PathConstraints: Get the max linear velocity
maxVelocityMPS() - Method in record class com.pathplanner.lib.path.PathConstraints: Returns the value of the maxVelocityMPS record component.
minPosition() - Method in record class com.pathplanner.lib.path.ConstraintsZone: Returns the value of the minPosition record component.
minPosition() - Method in record class com.pathplanner.lib.path.PointTowardsZone: Returns the value of the minPosition record component.
moduleConfig - Variable in class com.pathplanner.lib.config.RobotConfig: The drive module config
ModuleConfig - Class in com.pathplanner.lib.config: Configuration class describing a robot's drive module
ModuleConfig(double, double, double, DCMotor, double, int) - Constructor for class com.pathplanner.lib.config.ModuleConfig: Configuration of a robot drive module.
ModuleConfig(Distance, LinearVelocity, double, DCMotor, Current, int) - Constructor for class com.pathplanner.lib.config.ModuleConfig: Configuration of a robot drive module.
moduleLocations - Variable in class com.pathplanner.lib.config.RobotConfig: Robot-relative locations of each drive module in meters
modulePivotDistance - Variable in class com.pathplanner.lib.config.RobotConfig: The distance from the robot center to each module in meters
moduleStates - Variable in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: The SwerveModuleTrajectoryState states for this state
moduleStates() - Method in record class com.pathplanner.lib.util.swerve.SwerveSetpoint: Returns the value of the moduleStates record component.
MOI - Variable in class com.pathplanner.lib.config.RobotConfig: The moment of inertia of the robot, in KG*M^2

N

name - Variable in class com.pathplanner.lib.path.PathPlannerPath: Name of the path.
name() - Method in record class com.pathplanner.lib.path.PointTowardsZone: Returns the value of the name record component.
NamedCommands - Class in com.pathplanner.lib.auto: Utility class for managing named commands
NamedCommands() - Constructor for class com.pathplanner.lib.auto.NamedCommands
nearFieldPosition(Translation2d, double) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that is high when near a given field position.
nearFieldPosition(Translation2d, Distance) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that is high when near a given field position.
nearFieldPositionAutoFlipped(Translation2d, double) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that is high when near a given field position.
nearFieldPositionAutoFlipped(Translation2d, Distance) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a trigger that is high when near a given field position.
nextControl() - Method in record class com.pathplanner.lib.path.Waypoint: Returns the value of the nextControl record component.
nominalVoltageVolts() - Method in record class com.pathplanner.lib.path.PathConstraints: Returns the value of the nominalVoltageVolts record component.
numModules - Variable in class com.pathplanner.lib.config.RobotConfig: Number of drive modules
numPoints() - Method in class com.pathplanner.lib.path.PathPlannerPath: Get the number of points in this path

O

OneShotTriggerEvent - Class in com.pathplanner.lib.events: Event that will activate a trigger, then deactivate it the next loop
OneShotTriggerEvent(double, String) - Constructor for class com.pathplanner.lib.events.OneShotTriggerEvent: Create an event for activating a trigger, then deactivating it the next loop
OneShotTriggerEvent(Time, String) - Constructor for class com.pathplanner.lib.events.OneShotTriggerEvent: Create an event for activating a trigger, then deactivating it the next loop
overrideRotationFeedback(DoubleSupplier) - Static method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Begin overriding the rotation feedback.
overrideXFeedback(DoubleSupplier) - Static method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Begin overriding the X axis feedback.
overrideXYFeedback(DoubleSupplier, DoubleSupplier) - Static method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Begin overriding the X and Y axis feedback.
overrideYFeedback(DoubleSupplier) - Static method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Begin overriding the Y axis feedback.

P

PathConstraints - Record Class in com.pathplanner.lib.path: Kinematic path following constraints
PathConstraints(double, double, double, double) - Constructor for record class com.pathplanner.lib.path.PathConstraints: Kinematic path following constraints
PathConstraints(double, double, double, double, double) - Constructor for record class com.pathplanner.lib.path.PathConstraints: Kinematic path following constraints
PathConstraints(double, double, double, double, double, boolean) - Constructor for record class com.pathplanner.lib.path.PathConstraints: Creates an instance of a PathConstraints record class.
PathConstraints(LinearVelocity, LinearAcceleration, AngularVelocity, AngularAcceleration) - Constructor for record class com.pathplanner.lib.path.PathConstraints: Kinematic path following constraints
PathConstraints(LinearVelocity, LinearAcceleration, AngularVelocity, AngularAcceleration, Voltage) - Constructor for record class com.pathplanner.lib.path.PathConstraints: Kinematic path following constraints
PathConstraints(LinearVelocity, LinearAcceleration, AngularVelocity, AngularAcceleration, Voltage, boolean) - Constructor for record class com.pathplanner.lib.path.PathConstraints: Kinematic path following constraints
Pathfinder - Interface in com.pathplanner.lib.pathfinding: Interface for a pathfinder that can be used by PPLib's pathfinding commands
Pathfinding - Class in com.pathplanner.lib.pathfinding: Static class for interacting with the chosen pathfinding implementation from the pathfinding commands
Pathfinding() - Constructor for class com.pathplanner.lib.pathfinding.Pathfinding
PathfindingCommand - Class in com.pathplanner.lib.commands: Base pathfinding command
PathfindingCommand(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, BiConsumer<ChassisSpeeds, DriveFeedforwards>, PathFollowingController, RobotConfig, BooleanSupplier, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindingCommand: Constructs a new base pathfinding command that will generate a path towards the given path.
PathfindingCommand(Pose2d, PathConstraints, double, Supplier<Pose2d>, Supplier<ChassisSpeeds>, BiConsumer<ChassisSpeeds, DriveFeedforwards>, PathFollowingController, RobotConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindingCommand: Constructs a new base pathfinding command that will generate a path towards the given pose.
PathfindingCommand(Pose2d, PathConstraints, LinearVelocity, Supplier<Pose2d>, Supplier<ChassisSpeeds>, BiConsumer<ChassisSpeeds, DriveFeedforwards>, PathFollowingController, RobotConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindingCommand: Constructs a new base pathfinding command that will generate a path towards the given pose.
PathfindingCommand(Pose2d, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, BiConsumer<ChassisSpeeds, DriveFeedforwards>, PathFollowingController, RobotConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindingCommand: Constructs a new base pathfinding command that will generate a path towards the given pose.
pathfindThenFollowPath(PathPlannerPath, PathConstraints) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Build a command to pathfind to a given path, then follow that path.
PathfindThenFollowPath - Class in com.pathplanner.lib.commands: Command group that will pathfind to the start of a path, then follow that path
PathfindThenFollowPath(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, BiConsumer<ChassisSpeeds, DriveFeedforwards>, PathFollowingController, RobotConfig, BooleanSupplier, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindThenFollowPath: Constructs a new PathfindThenFollowPath command group.
pathfindToPose(Pose2d, PathConstraints) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Build a command to pathfind to a given pose.
pathfindToPose(Pose2d, PathConstraints, double) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Build a command to pathfind to a given pose.
pathfindToPose(Pose2d, PathConstraints, LinearVelocity) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Build a command to pathfind to a given pose.
pathfindToPoseFlipped(Pose2d, PathConstraints) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Build a command to pathfind to a given pose that will be flipped based on the value of the path flipping supplier when this command is run.
pathfindToPoseFlipped(Pose2d, PathConstraints, double) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Build a command to pathfind to a given pose that will be flipped based on the value of the path flipping supplier when this command is run.
pathfindToPoseFlipped(Pose2d, PathConstraints, LinearVelocity) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Build a command to pathfind to a given pose that will be flipped based on the value of the path flipping supplier when this command is run.
PathFollowingController - Interface in com.pathplanner.lib.controllers: Interface used by path following controllers
PathPlannerAuto - Class in com.pathplanner.lib.commands: A command that loads and runs an autonomous routine built using PathPlanner.
PathPlannerAuto(Command) - Constructor for class com.pathplanner.lib.commands.PathPlannerAuto: Create a PathPlannerAuto from a custom command
PathPlannerAuto(Command, Pose2d) - Constructor for class com.pathplanner.lib.commands.PathPlannerAuto: Create a PathPlannerAuto from a custom command
PathPlannerAuto(String) - Constructor for class com.pathplanner.lib.commands.PathPlannerAuto: Constructs a new PathPlannerAuto command.
PathPlannerLogging - Class in com.pathplanner.lib.util: Utility class for handling custom logging callbacks
PathPlannerLogging() - Constructor for class com.pathplanner.lib.util.PathPlannerLogging
PathPlannerPath - Class in com.pathplanner.lib.path: A PathPlanner path.
PathPlannerPath(List<Waypoint>, PathConstraints, IdealStartingState, GoalEndState) - Constructor for class com.pathplanner.lib.path.PathPlannerPath: Simplified constructor to create a path with no rotation targets, constraint zones, or event markers.
PathPlannerPath(List<Waypoint>, PathConstraints, IdealStartingState, GoalEndState, boolean) - Constructor for class com.pathplanner.lib.path.PathPlannerPath: Simplified constructor to create a path with no rotation targets, constraint zones, or event markers.
PathPlannerPath(List<Waypoint>, List<RotationTarget>, List<PointTowardsZone>, List<ConstraintsZone>, List<EventMarker>, PathConstraints, IdealStartingState, GoalEndState, boolean) - Constructor for class com.pathplanner.lib.path.PathPlannerPath: Create a new path planner path
PathPlannerTrajectory - Class in com.pathplanner.lib.trajectory: Trajectory generated for a PathPlanner path
PathPlannerTrajectory(PathPlannerPath, ChassisSpeeds, Rotation2d, RobotConfig) - Constructor for class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Generate a new trajectory for a given path
PathPlannerTrajectory(List<PathPlannerTrajectoryState>) - Constructor for class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Create a trajectory with pre-generated states
PathPlannerTrajectory(List<PathPlannerTrajectoryState>, List<Event>) - Constructor for class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Create a trajectory with pre-generated states and list of events
PathPlannerTrajectoryState - Class in com.pathplanner.lib.trajectory: A state along the a PathPlannerTrajectory
PathPlannerTrajectoryState() - Constructor for class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState
PathPoint - Class in com.pathplanner.lib.path: A point along a pathplanner path
PathPoint(Translation2d) - Constructor for class com.pathplanner.lib.path.PathPoint: Create a path point
PathPoint(Translation2d, RotationTarget) - Constructor for class com.pathplanner.lib.path.PathPoint: Create a path point
PathPoint(Translation2d, RotationTarget, PathConstraints) - Constructor for class com.pathplanner.lib.path.PathPoint: Create a path point
PIDConstants - Class in com.pathplanner.lib.config: PID constants used to create PID controllers
PIDConstants(double) - Constructor for class com.pathplanner.lib.config.PIDConstants: Create a new PIDConstants object
PIDConstants(double, double) - Constructor for class com.pathplanner.lib.config.PIDConstants: Create a new PIDConstants object
PIDConstants(double, double, double) - Constructor for class com.pathplanner.lib.config.PIDConstants: Create a new PIDConstants object
PIDConstants(double, double, double, double) - Constructor for class com.pathplanner.lib.config.PIDConstants: Create a new PIDConstants object
pointTowardsZone(String) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Create a PointTowardsZoneTrigger that will be polled by this auto instead of globally across all path following commands
PointTowardsZone - Record Class in com.pathplanner.lib.path: A zone on a path that will force the robot to point towards a position on the field
PointTowardsZone(String, Translation2d, double, double) - Constructor for record class com.pathplanner.lib.path.PointTowardsZone: Create a new point towards zone without a rotation offset
PointTowardsZone(String, Translation2d, Rotation2d, double, double) - Constructor for record class com.pathplanner.lib.path.PointTowardsZone: Creates an instance of a PointTowardsZone record class.
PointTowardsZoneEvent - Class in com.pathplanner.lib.events: Event for setting the value of a point towards zone trigger
PointTowardsZoneEvent(double, String, boolean) - Constructor for class com.pathplanner.lib.events.PointTowardsZoneEvent: Create an event for changing the value of a point towards zone trigger
PointTowardsZoneEvent(Time, String, boolean) - Constructor for class com.pathplanner.lib.events.PointTowardsZoneEvent: Create an event for changing the value of a point towards zone trigger
PointTowardsZoneTrigger - Class in com.pathplanner.lib.events: A trigger that will be controlled by the robot entering/leaving a point towards zone
PointTowardsZoneTrigger(EventLoop, String) - Constructor for class com.pathplanner.lib.events.PointTowardsZoneTrigger: Create a new PointTowardsZoneTrigger that gets polled by the given event loop instead of the EventScheduler
PointTowardsZoneTrigger(String) - Constructor for class com.pathplanner.lib.events.PointTowardsZoneTrigger: Create a new PointTowardsZoneTrigger.
pose - Variable in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: Field-relative robot pose at this state
position - Variable in class com.pathplanner.lib.path.PathPoint: The position of this point
position() - Method in record class com.pathplanner.lib.path.EventMarker: Returns the value of the position record component.
position() - Method in record class com.pathplanner.lib.path.RotationTarget: Returns the value of the position record component.
PPHolonomicDriveController - Class in com.pathplanner.lib.controllers: Path following controller for holonomic drive trains
PPHolonomicDriveController(PIDConstants, PIDConstants) - Constructor for class com.pathplanner.lib.controllers.PPHolonomicDriveController: Constructs a HolonomicDriveController
PPHolonomicDriveController(PIDConstants, PIDConstants, double) - Constructor for class com.pathplanner.lib.controllers.PPHolonomicDriveController: Constructs a HolonomicDriveController
PPLibTelemetry - Class in com.pathplanner.lib.util: Utility class for sending data to the PathPlanner app via NT4
PPLibTelemetry() - Constructor for class com.pathplanner.lib.util.PPLibTelemetry
PPLTVController - Class in com.pathplanner.lib.controllers: LTV following controller
PPLTVController(double) - Constructor for class com.pathplanner.lib.controllers.PPLTVController: Constructs a linear time-varying unicycle controller with default maximum desired error tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s, 2 rad/s).
PPLTVController(double, double) - Constructor for class com.pathplanner.lib.controllers.PPLTVController: Constructs a linear time-varying unicycle controller with default maximum desired error tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s, 2 rad/s).
PPLTVController(Vector<N3>, Vector<N2>, double) - Constructor for class com.pathplanner.lib.controllers.PPLTVController: Constructs a linear time-varying unicycle controller.
PPLTVController(Vector<N3>, Vector<N2>, double, double) - Constructor for class com.pathplanner.lib.controllers.PPLTVController: Constructs a linear time-varying unicycle controller.
prevControl() - Method in record class com.pathplanner.lib.path.Waypoint: Returns the value of the prevControl record component.
preventFlipping - Variable in class com.pathplanner.lib.path.PathPlannerPath: Set to true to prevent this path from being flipped (useful for OTF paths that already have the correct coords)

Q

quadraticLerp(Translation2d, Translation2d, Translation2d, double) - Static method in class com.pathplanner.lib.util.GeometryUtil: Quadratic interpolation between Translation2ds

R

registerCommand(String, Command) - Static method in class com.pathplanner.lib.auto.NamedCommands: Registers a command with the given name.
registerCommands(List<Pair<String, Command>>) - Static method in class com.pathplanner.lib.auto.NamedCommands: Registers a list of commands with their associated names.
registerCommands(Map<String, Command>) - Static method in class com.pathplanner.lib.auto.NamedCommands: Registers a map of commands with their associated names.
registerHotReloadAuto(String, PathPlannerAuto) - Static method in class com.pathplanner.lib.util.PPLibTelemetry: Register an auto for hot reload.
registerHotReloadPath(String, PathPlannerPath) - Static method in class com.pathplanner.lib.util.PPLibTelemetry: Register a path for hot reload.
reset(Pose2d, ChassisSpeeds) - Method in interface com.pathplanner.lib.controllers.PathFollowingController: Resets the controller based on the current state of the robot
reset(Pose2d, ChassisSpeeds) - Method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Resets the controller based on the current state of the robot
reset(Pose2d, ChassisSpeeds) - Method in class com.pathplanner.lib.controllers.PPLTVController: Resets the controller based on the current state of the robot
resetOdom(Pose2d) - Static method in class com.pathplanner.lib.auto.AutoBuilder: Create a command to reset the robot's odometry to a given blue alliance pose
reverse() - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: Get the state reversed, used for following a trajectory reversed with a differential drivetrain
reverse() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Reverse the feedforwards for driving backwards.
RobotConfig - Class in com.pathplanner.lib.config: Configuration class describing everything that needs to be known about the robot to generate trajectories
RobotConfig(double, double, ModuleConfig, double) - Constructor for class com.pathplanner.lib.config.RobotConfig: Create a robot config object for a DIFFERENTIAL DRIVE robot
RobotConfig(double, double, ModuleConfig, double, double) - Constructor for class com.pathplanner.lib.config.RobotConfig: Create a robot config object for a HOLONOMIC DRIVE robot
RobotConfig(Mass, MomentOfInertia, ModuleConfig, Distance) - Constructor for class com.pathplanner.lib.config.RobotConfig: Create a robot config object for a DIFFERENTIAL DRIVE robot
RobotConfig(Mass, MomentOfInertia, ModuleConfig, Distance, Distance) - Constructor for class com.pathplanner.lib.config.RobotConfig: Create a robot config object for a HOLONOMIC DRIVE robot
robotRelativeForcesX() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Get the X components of the robot-relative force vectors at the wheels
robotRelativeForcesXNewtons() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Returns the value of the robotRelativeForcesXNewtons record component.
robotRelativeForcesY() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Get the Y components of the robot-relative force vectors at the wheels
robotRelativeForcesYNewtons() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Returns the value of the robotRelativeForcesYNewtons record component.
robotRelativeSpeeds() - Method in record class com.pathplanner.lib.util.swerve.SwerveSetpoint: Returns the value of the robotRelativeSpeeds record component.
rotation() - Method in record class com.pathplanner.lib.path.GoalEndState: Returns the value of the rotation record component.
rotation() - Method in record class com.pathplanner.lib.path.IdealStartingState: Returns the value of the rotation record component.
rotation() - Method in record class com.pathplanner.lib.path.RotationTarget: Returns the value of the rotation record component.
rotationOffset() - Method in record class com.pathplanner.lib.path.PointTowardsZone: Returns the value of the rotationOffset record component.
rotationTarget - Variable in class com.pathplanner.lib.path.PathPoint: The target rotation at this point
RotationTarget - Record Class in com.pathplanner.lib.path: A target holonomic rotation at a position along a path
RotationTarget(double, Rotation2d) - Constructor for record class com.pathplanner.lib.path.RotationTarget: Creates an instance of a RotationTarget record class.

S

sample(double) - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Get the target state at the given point in time along the trajectory
sample(Time) - Method in class com.pathplanner.lib.trajectory.PathPlannerTrajectory: Get the target state at the given point in time along the trajectory
scheduleCommand(Command) - Method in class com.pathplanner.lib.events.EventScheduler: Schedule a command on this scheduler.
ScheduleCommandEvent - Class in com.pathplanner.lib.events: Event that will schedule a command within the EventScheduler
ScheduleCommandEvent(double, Command) - Constructor for class com.pathplanner.lib.events.ScheduleCommandEvent: Create an event to schedule a command
ScheduleCommandEvent(Time, Command) - Constructor for class com.pathplanner.lib.events.ScheduleCommandEvent: Create an event to schedule a command
setCondition(String, boolean) - Static method in class com.pathplanner.lib.events.EventTrigger: Set the value of an event condition
setCurrentPath(PathPlannerPath) - Static method in class com.pathplanner.lib.util.PPLibTelemetry: Set the current path being followed
setCurrentPose(Pose2d) - Static method in class com.pathplanner.lib.util.PPLibTelemetry: Set the current robot pose
setCurrentTrajectory(PathPlannerTrajectory) - Static method in class com.pathplanner.lib.commands.PathPlannerAuto: Used by path following commands to inform autos of what trajectory is currently being followed
setDynamicObstacles(List<Pair<Translation2d, Translation2d>>, Translation2d) - Method in class com.pathplanner.lib.pathfinding.LocalADStar: Set the dynamic obstacles that should be avoided while pathfinding.
setDynamicObstacles(List<Pair<Translation2d, Translation2d>>, Translation2d) - Method in interface com.pathplanner.lib.pathfinding.Pathfinder: Set the dynamic obstacles that should be avoided while pathfinding.
setDynamicObstacles(List<Pair<Translation2d, Translation2d>>, Translation2d) - Static method in class com.pathplanner.lib.pathfinding.Pathfinding: Set the dynamic obstacles that should be avoided while pathfinding.
setEnabled(boolean) - Method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Enables and disables the controller for troubleshooting.
setGoalPosition(Translation2d) - Method in class com.pathplanner.lib.pathfinding.LocalADStar: Set the goal position to pathfind to
setGoalPosition(Translation2d) - Method in interface com.pathplanner.lib.pathfinding.Pathfinder: Set the goal position to pathfind to
setGoalPosition(Translation2d) - Static method in class com.pathplanner.lib.pathfinding.Pathfinding: Set the goal position to pathfind to
setLogActivePathCallback(Consumer<List<Pose2d>>) - Static method in class com.pathplanner.lib.util.PathPlannerLogging: Set the logging callback for the active path
setLogCurrentPoseCallback(Consumer<Pose2d>) - Static method in class com.pathplanner.lib.util.PathPlannerLogging: Set the logging callback for the current robot pose
setLogTargetPoseCallback(Consumer<Pose2d>) - Static method in class com.pathplanner.lib.util.PathPlannerLogging: Set the logging callback for the target robot pose
setPathfinder(Pathfinder) - Static method in class com.pathplanner.lib.pathfinding.Pathfinding: Set the pathfinder that should be used by the path following commands
setRotationTargetOverride(Supplier<Optional<Rotation2d>>) - Static method in class com.pathplanner.lib.controllers.PPHolonomicDriveController: Deprecated.
Use overrideRotationFeedback instead, with the output of your own PID controller
setStartPosition(Translation2d) - Method in class com.pathplanner.lib.pathfinding.LocalADStar: Set the start position to pathfind from
setStartPosition(Translation2d) - Method in interface com.pathplanner.lib.pathfinding.Pathfinder: Set the start position to pathfind from
setStartPosition(Translation2d) - Static method in class com.pathplanner.lib.pathfinding.Pathfinding: Set the start position to pathfind from
setTargetPose(Pose2d) - Static method in class com.pathplanner.lib.util.PPLibTelemetry: Set the target robot pose
setTimestamp(double) - Method in class com.pathplanner.lib.events.Event: Set the trajectory timestamp of this event
setTimestamp(Time) - Method in class com.pathplanner.lib.events.Event: Set the trajectory timestamp of this event
setVelocities(double, double, double, double) - Static method in class com.pathplanner.lib.util.PPLibTelemetry: Set the path following actual/target velocities
setWithinZone(String, boolean) - Static method in class com.pathplanner.lib.events.PointTowardsZoneTrigger: Set the value of a zone condition
shouldFlip() - Static method in class com.pathplanner.lib.auto.AutoBuilder: Get if a path or field position should currently be flipped
SwerveModuleTrajectoryState - Class in com.pathplanner.lib.trajectory: Extension of a SwerveModuleState to include its field-relative position and angle
SwerveModuleTrajectoryState() - Constructor for class com.pathplanner.lib.trajectory.SwerveModuleTrajectoryState
SwerveSetpoint - Record Class in com.pathplanner.lib.util.swerve: A setpoint for a swerve drivetrain, containing robot-relative chassis speeds and individual module states
SwerveSetpoint(ChassisSpeeds, SwerveModuleState[], DriveFeedforwards) - Constructor for record class com.pathplanner.lib.util.swerve.SwerveSetpoint: Creates an instance of a SwerveSetpoint record class.
SwerveSetpointGenerator - Class in com.pathplanner.lib.util.swerve: Swerve setpoint generator based on a version created by FRC team 254.
SwerveSetpointGenerator(RobotConfig, double) - Constructor for class com.pathplanner.lib.util.swerve.SwerveSetpointGenerator: Create a new swerve setpoint generator
SwerveSetpointGenerator(RobotConfig, AngularVelocity) - Constructor for class com.pathplanner.lib.util.swerve.SwerveSetpointGenerator: Create a new swerve setpoint generator
symmetryType - Static variable in class com.pathplanner.lib.util.FlippingUtil: The type of symmetry for the current field

T

targetPosition() - Method in record class com.pathplanner.lib.path.PointTowardsZone: Returns the value of the targetPosition record component.
timeElapsed(double) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Trigger that is high when the given time has elapsed
timeElapsed(Time) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Trigger that is high when the given time has elapsed
timeRange(double, double) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Trigger that is high when within a range of time since the start of this auto
timeRange(Time, Time) - Method in class com.pathplanner.lib.commands.PathPlannerAuto: Trigger that is high when within a range of time since the start of this auto
timeSeconds - Variable in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: The time at this state in seconds
toChassisSpeeds(SwerveModuleState[]) - Method in class com.pathplanner.lib.config.RobotConfig: Convert an array of swerve module states to robot-relative chassis speeds.
torqueCurrents() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Get the torque-current of the drive motors
torqueCurrentsAmps() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Returns the value of the torqueCurrentsAmps record component.
torqueLoss - Variable in class com.pathplanner.lib.config.ModuleConfig: The amount of motor torque lost while driving.
toString() - Method in record class com.pathplanner.lib.path.ConstraintsZone: Returns a string representation of this record class.
toString() - Method in record class com.pathplanner.lib.path.EventMarker: Returns a string representation of this record class.
toString() - Method in record class com.pathplanner.lib.path.GoalEndState: Returns a string representation of this record class.
toString() - Method in record class com.pathplanner.lib.path.IdealStartingState: Returns a string representation of this record class.
toString() - Method in record class com.pathplanner.lib.path.PathConstraints: Returns a string representation of this record class.
toString() - Method in record class com.pathplanner.lib.path.PointTowardsZone: Returns a string representation of this record class.
toString() - Method in record class com.pathplanner.lib.path.RotationTarget: Returns a string representation of this record class.
toString() - Method in record class com.pathplanner.lib.path.Waypoint: Returns a string representation of this record class.
toString() - Method in record class com.pathplanner.lib.pathfinding.LocalADStar.GridPosition: Returns a string representation of this record class.
toString() - Method in record class com.pathplanner.lib.util.DriveFeedforwards: Returns a string representation of this record class.
toString() - Method in record class com.pathplanner.lib.util.swerve.SwerveSetpoint: Returns a string representation of this record class.
toSwerveModuleStates(ChassisSpeeds) - Method in class com.pathplanner.lib.config.RobotConfig: Convert robot-relative chassis speeds to an array of swerve module states.
translation2dFromJson(JSONObject) - Static method in class com.pathplanner.lib.util.JSONUtil: Create a Translation2d from a json object containing x and y fields
TriggerEvent - Class in com.pathplanner.lib.events: Event for setting the value of an event trigger
TriggerEvent(double, String, boolean) - Constructor for class com.pathplanner.lib.events.TriggerEvent: Create an event for changing the value of a named trigger
TriggerEvent(Time, String, boolean) - Constructor for class com.pathplanner.lib.events.TriggerEvent: Create an event for changing the value of a named trigger
triggerName() - Method in record class com.pathplanner.lib.path.EventMarker: Returns the value of the triggerName record component.

U

unlimited() - Method in record class com.pathplanner.lib.path.PathConstraints: Returns the value of the unlimited record component.
unlimitedConstraints(double) - Static method in record class com.pathplanner.lib.path.PathConstraints: Get unlimited PathConstraints

V

valueOf(String) - Static method in enum class com.pathplanner.lib.util.FlippingUtil.FieldSymmetry: Returns the enum constant of this class with the specified name.
values() - Static method in enum class com.pathplanner.lib.util.FlippingUtil.FieldSymmetry: Returns an array containing the constants of this enum class, in the order they are declared.
velocity() - Method in record class com.pathplanner.lib.path.GoalEndState: Get the end linear velocity
velocity() - Method in record class com.pathplanner.lib.path.IdealStartingState: Get the starting linear velocity
velocityMPS() - Method in record class com.pathplanner.lib.path.GoalEndState: Returns the value of the velocityMPS record component.
velocityMPS() - Method in record class com.pathplanner.lib.path.IdealStartingState: Returns the value of the velocityMPS record component.

W

warmupCommand() - Static method in class com.pathplanner.lib.commands.FollowPathCommand: Create a command to warmup on-the-fly generation, replanning, and the path following command
warmupCommand() - Static method in class com.pathplanner.lib.commands.PathfindingCommand: Create a command to warmup the pathfinder and pathfinding command
Waypoint - Record Class in com.pathplanner.lib.path: Class used to describe a waypoint for a Bezier curve based path
Waypoint(Translation2d, Translation2d, Translation2d) - Constructor for record class com.pathplanner.lib.path.Waypoint: Creates an instance of a Waypoint record class.
waypointRelativePos - Variable in class com.pathplanner.lib.path.PathPoint: The waypoint relative position of this point.
waypointRelativePos - Variable in class com.pathplanner.lib.trajectory.PathPlannerTrajectoryState: The waypoint relative position of this state.
waypointsFromPoses(Pose2d...) - Static method in class com.pathplanner.lib.path.PathPlannerPath: Create the bezier waypoints necessary to create a path using a list of poses
waypointsFromPoses(List<Pose2d>) - Static method in class com.pathplanner.lib.path.PathPlannerPath: Create the bezier waypoints necessary to create a path using a list of poses
wheelCOF - Variable in class com.pathplanner.lib.config.ModuleConfig: The coefficient of friction between the drive wheel and the carpet.
wheelFrictionForce - Variable in class com.pathplanner.lib.config.RobotConfig: The force of static friction between the robot's drive wheels and the carpet, in Newtons
wheelRadiusMeters - Variable in class com.pathplanner.lib.config.ModuleConfig: Wheel radius in meters
wrappedEventCommand(Command) - Static method in class com.pathplanner.lib.auto.CommandUtil: Wraps a command with a functional command that calls the command's initialize, execute, end, and isFinished methods.

X

x() - Method in record class com.pathplanner.lib.pathfinding.LocalADStar.GridPosition: Returns the value of the x record component.

Y

y() - Method in record class com.pathplanner.lib.pathfinding.LocalADStar.GridPosition: Returns the value of the y record component.

Z

zeros(int) - Static method in record class com.pathplanner.lib.util.DriveFeedforwards: Create drive feedforwards consisting of all zeros

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