frc::Trajectory Class Reference

Represents a time-parameterized trajectory. More...

#include <frc/trajectory/Trajectory.h>

Classes
struct	State
	Represents one point on the trajectory. More...

Public Member Functions
	Trajectory ()=default
	Trajectory (const std::vector< State > &states)
	Constructs a trajectory from a vector of states. More...
units::second_t	TotalTime () const
	Returns the overall duration of the trajectory. More...
const std::vector< State > &	States () const
	Return the states of the trajectory. More...
State	Sample (units::second_t t) const
	Sample the trajectory at a point in time. More...
Trajectory	TransformBy (const Transform2d &transform)
	Transforms all poses in the trajectory by the given transform. More...
Trajectory	RelativeTo (const Pose2d &pose)
	Transforms all poses in the trajectory so that they are relative to the given pose. More...
Trajectory	operator+ (const Trajectory &other) const
	Concatenates another trajectory to the current trajectory. More...
Pose2d	InitialPose () const
	Returns the initial pose of the trajectory. More...
bool	operator== (const Trajectory &) const =default
	Checks equality between this Trajectory and another object. More...

Detailed Description

Represents a time-parameterized trajectory.

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

Constructor & Destructor Documentation

Trajectory() [1/2]

frc::Trajectory::Trajectory ( )

default

Trajectory() [2/2]

frc::Trajectory::Trajectory ( const std::vector< State > &  states )

explicit

Constructs a trajectory from a vector of states.

Exceptions

std::invalid_argument

if the vector of states is empty.

Member Function Documentation

InitialPose()

Pose2d frc::Trajectory::InitialPose ( ) const

inline

Returns the initial pose of the trajectory.

Returns

The initial pose of the trajectory.

operator+()

Trajectory frc::Trajectory::operator+

(

const Trajectory &

other

)

const

Concatenates another trajectory to the current trajectory.

The user is responsible for making sure that the end pose of this trajectory and the start pose of the other trajectory match (if that is the desired behavior).

Parameters

other

The trajectory to concatenate.

Returns

The concatenated trajectory.

operator==()

bool frc::Trajectory::operator== ( const Trajectory &  ) const

default

Checks equality between this Trajectory and another object.

RelativeTo()

Trajectory frc::Trajectory::RelativeTo

(

const Pose2d &

pose

)

Transforms all poses in the trajectory so that they are relative to the given pose.

This is useful for converting a field-relative trajectory into a robot-relative trajectory.

Parameters

pose	The pose that is the origin of the coordinate frame that the current trajectory will be transformed into.

Returns

The transformed trajectory.

Sample()

State frc::Trajectory::Sample

(

units::second_t

t

)

const

Sample the trajectory at a point in time.

Parameters

t	The point in time since the beginning of the trajectory to sample.

Returns

The state at that point in time.

Exceptions

std::runtime_error

if the trajectory has no states.

States()

const std::vector< State > & frc::Trajectory::States ( ) const

inline

Return the states of the trajectory.

Returns

The states of the trajectory.

TotalTime()

units::second_t frc::Trajectory::TotalTime ( ) const

inline

Returns the overall duration of the trajectory.

Returns

The duration of the trajectory.

TransformBy()

Trajectory frc::Trajectory::TransformBy

(

const Transform2d &

transform

)

Transforms all poses in the trajectory by the given transform.

This is useful for converting a robot-relative trajectory into a field-relative trajectory. This works with respect to the first pose in the trajectory.

Parameters

transform

The transform to transform the trajectory by.

Returns

The transformed trajectory.

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The documentation for this class was generated from the following file:

• frc/trajectory/Trajectory.h