Package edu.wpi.first.math.trajectory

Class Trajectory.State

java.lang.Object

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

Enclosing class:

Trajectory

public static class Trajectory.State
extends Object

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	accelerationMetersPerSecondSq
double	curvatureRadPerMeter
Pose2d	poseMeters
static TrajectoryStateProto	proto
double	timeSeconds
double	velocityMetersPerSecond

Constructor Summary

Constructors

Constructor	Description
State()
State(double timeSeconds, double velocityMetersPerSecond, double accelerationMetersPerSecondSq, Pose2d poseMeters, double curvatureRadPerMeter)	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

timeSeconds

public double timeSeconds

velocityMetersPerSecond

public double velocityMetersPerSecond

accelerationMetersPerSecondSq

public double accelerationMetersPerSecondSq

poseMeters

public Pose2d poseMeters

curvatureRadPerMeter

public double curvatureRadPerMeter

Constructor Details

State

public State()

State

public State(double timeSeconds, double velocityMetersPerSecond, double accelerationMetersPerSecondSq, Pose2d poseMeters, double curvatureRadPerMeter)

Constructs a State with the specified parameters.

Parameters:

timeSeconds - The time elapsed since the beginning of the trajectory.

velocityMetersPerSecond - The speed at that point of the trajectory.

accelerationMetersPerSecondSq - The acceleration at that point of the trajectory.

poseMeters - The pose at that point of the trajectory.

curvatureRadPerMeter - The curvature at that point of the trajectory.

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