Commands

pathplannerlib Index / Pathplannerlib / Commands

Auto-generated documentation for pathplannerlib.commands module.

FollowPathCommand

Show source in commands.py:19

Signature

class FollowPathCommand(Command):
    def __init__(
        self,
        path: PathPlannerPath,
        pose_supplier: Callable[[], Pose2d],
        speeds_supplier: Callable[[], ChassisSpeeds],
        output_robot_relative: Callable[[ChassisSpeeds], None],
        controller: PathFollowingController,
        replanning_config: ReplanningConfig,
        should_flip_path: Callable[[], bool],
        *requirements: Subsystem
    ): ...

FollowPathCommand().end

Show source in commands.py:176

Signature

def end(self, interrupted: bool): ...

FollowPathCommand().execute

Show source in commands.py:108

Signature

def execute(self): ...

FollowPathCommand().initialize

Show source in commands.py:74

Signature

def initialize(self): ...

FollowPathCommand().isFinished

Show source in commands.py:173

Signature

def isFinished(self) -> bool: ...

FollowPathHolonomic

Show source in commands.py:198

Signature

class FollowPathHolonomic(FollowPathCommand):
    def __init__(
        self,
        path: PathPlannerPath,
        pose_supplier: Callable[[], Pose2d],
        speeds_supplier: Callable[[], ChassisSpeeds],
        output_robot_relative: Callable[[ChassisSpeeds], None],
        config: HolonomicPathFollowerConfig,
        should_flip_path: Callable[[], bool],
        *requirements: Subsystem
    ): ...

See also

• FollowPathCommand

FollowPathLTV

Show source in commands.py:241

Signature

class FollowPathLTV(FollowPathCommand):
    def __init__(
        self,
        path: PathPlannerPath,
        pose_supplier: Callable[[], Pose2d],
        speeds_supplier: Callable[[], ChassisSpeeds],
        output_robot_relative: Callable[[ChassisSpeeds], None],
        qelems: Tuple[float, float, float],
        relems: Tuple[float, float],
        dt: float,
        replanning_config: ReplanningConfig,
        should_flip_path: Callable[[], bool],
        *requirements: Subsystem
    ): ...

See also

• FollowPathCommand

FollowPathRamsete

Show source in commands.py:219

Signature

class FollowPathRamsete(FollowPathCommand):
    def __init__(
        self,
        path: PathPlannerPath,
        pose_supplier: Callable[[], Pose2d],
        speeds_supplier: Callable[[], ChassisSpeeds],
        output_robot_relative: Callable[[ChassisSpeeds], None],
        replanning_config: ReplanningConfig,
        should_flip_path: Callable[[], bool],
        *requirements: Subsystem
    ): ...

See also

• FollowPathCommand

PathfindHolonomic

Show source in commands.py:503

Signature

class PathfindHolonomic(PathfindingCommand):
    def __init__(
        self,
        constraints: PathConstraints,
        pose_supplier: Callable[[], Pose2d],
        speeds_supplier: Callable[[], ChassisSpeeds],
        output_robot_relative: Callable[[ChassisSpeeds], None],
        config: HolonomicPathFollowerConfig,
        should_flip_path: Callable[[], bool],
        rotation_delay_distance: float = 0.0,
        target_path: PathPlannerPath = None,
        target_pose: Pose2d = None,
        goal_end_vel: float = 0,
        *requirements: Subsystem
    ): ...

See also

• PathfindingCommand

PathfindLTV

Show source in commands.py:564

Signature

class PathfindLTV(PathfindingCommand):
    def __init__(
        self,
        constraints: PathConstraints,
        pose_supplier: Callable[[], Pose2d],
        speeds_supplier: Callable[[], ChassisSpeeds],
        output_robot_relative: Callable[[ChassisSpeeds], None],
        qelems: Tuple[float, float, float],
        relems: Tuple[float, float],
        dt: float,
        replanning_config: ReplanningConfig,
        should_flip_path: Callable[[], bool],
        target_path: PathPlannerPath = None,
        target_position: Translation2d = None,
        goal_end_vel: float = 0,
        *requirements: Subsystem
    ): ...

See also

• PathfindingCommand

PathfindRamsete

Show source in commands.py:534

Signature

class PathfindRamsete(PathfindingCommand):
    def __init__(
        self,
        constraints: PathConstraints,
        pose_supplier: Callable[[], Pose2d],
        speeds_supplier: Callable[[], ChassisSpeeds],
        output_robot_relative: Callable[[ChassisSpeeds], None],
        replanning_config: ReplanningConfig,
        should_flip_path: Callable[[], bool],
        target_path: PathPlannerPath = None,
        target_position: Translation2d = None,
        goal_end_vel: float = 0,
        *requirements: Subsystem
    ): ...

See also

• PathfindingCommand

PathfindThenFollowPathHolonomic

Show source in commands.py:598

Signature

class PathfindThenFollowPathHolonomic(SequentialCommandGroup):
    def __init__(
        self,
        goal_path: PathPlannerPath,
        pathfinding_constraints: PathConstraints,
        pose_supplier: Callable[[], Pose2d],
        speeds_supplier: Callable[[], ChassisSpeeds],
        output_robot_relative: Callable[[ChassisSpeeds], None],
        config: HolonomicPathFollowerConfig,
        should_flip_path: Callable[[], bool],
        rotation_delay_distance: float = 0.0,
        *requirements: Subsystem
    ): ...

PathfindThenFollowPathLTV

Show source in commands.py:685

Signature

class PathfindThenFollowPathLTV(SequentialCommandGroup):
    def __init__(
        self,
        goal_path: PathPlannerPath,
        pathfinding_constraints: PathConstraints,
        pose_supplier: Callable[[], Pose2d],
        speeds_supplier: Callable[[], ChassisSpeeds],
        output_robot_relative: Callable[[ChassisSpeeds], None],
        qelems: Tuple[float, float, float],
        relems: Tuple[float, float],
        dt: float,
        replanning_config: ReplanningConfig,
        should_flip_path: Callable[[], bool],
        *requirements: Subsystem
    ): ...

PathfindThenFollowPathRamsete

Show source in commands.py:643

Signature

class PathfindThenFollowPathRamsete(SequentialCommandGroup):
    def __init__(
        self,
        goal_path: PathPlannerPath,
        pathfinding_constraints: PathConstraints,
        pose_supplier: Callable[[], Pose2d],
        speeds_supplier: Callable[[], ChassisSpeeds],
        output_robot_relative: Callable[[ChassisSpeeds], None],
        replanning_config: ReplanningConfig,
        should_flip_path: Callable[[], bool],
        *requirements: Subsystem
    ): ...

PathfindingCommand

Show source in commands.py:268

Signature

class PathfindingCommand(Command):
    def __init__(
        self,
        constraints: PathConstraints,
        pose_supplier: Callable[[], Pose2d],
        speeds_supplier: Callable[[], ChassisSpeeds],
        output_robot_relative: Callable[[ChassisSpeeds], None],
        controller: PathFollowingController,
        replanning_config: ReplanningConfig,
        should_flip_path: Callable[[], bool],
        rotation_delay_distance: float = 0.0,
        target_path: PathPlannerPath = None,
        target_pose: Pose2d = None,
        goal_end_vel: float = 0,
        *requirements: Subsystem
    ): ...

PathfindingCommand().end

Show source in commands.py:492

Signature

def end(self, interrupted: bool): ...

PathfindingCommand().execute

Show source in commands.py:365

Signature

def execute(self): ...

PathfindingCommand().initialize

Show source in commands.py:341

Signature

def initialize(self): ...

PathfindingCommand().isFinished

Show source in commands.py:477

Signature

def isFinished(self) -> bool: ...