Package edu.wpi.first.math.trajectory

Class Trajectory.State

java.lang.Object

edu.wpi.first.math.trajectory.Trajectory.State

All Implemented Interfaces:

ProtobufSerializable, WPISerializable

Enclosing class:

Trajectory

public static class Trajectory.State
extends Object
implements ProtobufSerializable

Represents a time-parameterized trajectory. The trajectory contains of various States that represent the pose, curvature, time elapsed, velocity, and acceleration at that point.

Field Summary

Fields

Modifier and Type	Field	Description
double	acceleration	The acceleration at that point of the trajectory in m/s².
double	curvature	The curvature at that point of the trajectory in rad/m.
Pose2d	pose	The pose at that point of the trajectory.
static final TrajectoryStateProto	proto	Trajectory.State protobuf for serialization.
double	time	The time elapsed since the beginning of the trajectory in seconds.
double	velocity	The speed at that point of the trajectory in meters per second.

Constructor Summary

Constructors

Constructor	Description
State()	Default constructor.
State(double time, double velocity, double acceleration, Pose2d pose, double curvature)	Constructs a State with the specified parameters.

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object obj)
int	hashCode()
String	toString()

Methods inherited from class java.lang.Object

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

Field Details

proto

public static final TrajectoryStateProto proto

Trajectory.State protobuf for serialization.

time

public double time

The time elapsed since the beginning of the trajectory in seconds.

velocity

public double velocity

The speed at that point of the trajectory in meters per second.

acceleration

public double acceleration

The acceleration at that point of the trajectory in m/s².

pose

public Pose2d pose

The pose at that point of the trajectory.

curvature

public double curvature

The curvature at that point of the trajectory in rad/m.

Constructor Details

State

public State()

Default constructor.

State

public State(double time,
 double velocity,
 double acceleration,
 Pose2d pose,
 double curvature)

Constructs a State with the specified parameters.

Parameters:

time - The time elapsed since the beginning of the trajectory in seconds.

velocity - The speed at that point of the trajectory in m/s.

acceleration - The acceleration at that point of the trajectory in m/s².

pose - The pose at that point of the trajectory.

curvature - The curvature at that point of the trajectory in rad/m.

Method Details

toString

public String toString()

Overrides:

toString in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object