frc::TrajectoryGenerator Class Reference

Helper class used to generate trajectories with various constraints. More...

#include <frc/trajectory/TrajectoryGenerator.h>

Public Types
using	PoseWithCurvature = std::pair< Pose2d, units::curvature_t >

Static Public Member Functions
static Trajectory	GenerateTrajectory (Spline< 3 >::ControlVector initial, const std::vector< Translation2d > &interiorWaypoints, Spline< 3 >::ControlVector end, const TrajectoryConfig &config)
	Generates a trajectory from the given control vectors and config. More...
static Trajectory	GenerateTrajectory (const Pose2d &start, const std::vector< Translation2d > &interiorWaypoints, const Pose2d &end, const TrajectoryConfig &config)
	Generates a trajectory from the given waypoints and config. More...
static Trajectory	GenerateTrajectory (std::vector< Spline< 5 >::ControlVector > controlVectors, const TrajectoryConfig &config)
	Generates a trajectory from the given quintic control vectors and config. More...
static Trajectory	GenerateTrajectory (const std::vector< Pose2d > &waypoints, const TrajectoryConfig &config)
	Generates a trajectory from the given waypoints and config. More...
template<typename Spline >
static std::vector< PoseWithCurvature >	SplinePointsFromSplines (const std::vector< Spline > &splines)
	Generate spline points from a vector of splines by parameterizing the splines. More...
static void	SetErrorHandler (std::function< void(const char *)> func)
	Set error reporting function. More...

Detailed Description

Helper class used to generate trajectories with various constraints.

Member Typedef Documentation

PoseWithCurvature

using frc::TrajectoryGenerator::PoseWithCurvature = std::pair<Pose2d, units::curvature_t>

Member Function Documentation

GenerateTrajectory() [1/4]

static Trajectory frc::TrajectoryGenerator::GenerateTrajectory ( const Pose2d &  start, const std::vector< Translation2d > &  interiorWaypoints, const Pose2d &  end, const TrajectoryConfig &  config  )

static

Generates a trajectory from the given waypoints and config.

This method uses clamped cubic splines – a method in which the initial pose, final pose, and interior waypoints are provided. The headings are automatically determined at the interior points to ensure continuous curvature.

Parameters

start	The starting pose.
interiorWaypoints	The interior waypoints.
end	The ending pose.
config	The configuration for the trajectory.

Returns

The generated trajectory.

GenerateTrajectory() [2/4]

static Trajectory frc::TrajectoryGenerator::GenerateTrajectory ( const std::vector< Pose2d > &  waypoints, const TrajectoryConfig &  config  )

static

Generates a trajectory from the given waypoints and config.

This method uses quintic hermite splines – therefore, all points must be represented by Pose2d objects. Continuous curvature is guaranteed in this method.

Parameters

waypoints	List of waypoints..
config	The configuration for the trajectory.

Returns

The generated trajectory.

GenerateTrajectory() [3/4]

static Trajectory frc::TrajectoryGenerator::GenerateTrajectory ( Spline< 3 >::ControlVector  initial, const std::vector< Translation2d > &  interiorWaypoints, Spline< 3 >::ControlVector  end, const TrajectoryConfig &  config  )

static

Generates a trajectory from the given control vectors and config.

This method uses clamped cubic splines – a method in which the exterior control vectors and interior waypoints are provided. The headings are automatically determined at the interior points to ensure continuous curvature.

Parameters

initial	The initial control vector.
interiorWaypoints	The interior waypoints.
end	The ending control vector.
config	The configuration for the trajectory.

Returns

The generated trajectory.

GenerateTrajectory() [4/4]

static Trajectory frc::TrajectoryGenerator::GenerateTrajectory ( std::vector< Spline< 5 >::ControlVector >  controlVectors, const TrajectoryConfig &  config  )

static

Generates a trajectory from the given quintic control vectors and config.

This method uses quintic hermite splines – therefore, all points must be represented by control vectors. Continuous curvature is guaranteed in this method.

Parameters

controlVectors	List of quintic control vectors.
config	The configuration for the trajectory.

Returns

The generated trajectory.

SetErrorHandler()

static void frc::TrajectoryGenerator::SetErrorHandler ( std::function< void(const char *)>  func )

static

Set error reporting function.

By default, it is output to stderr.

Parameters

func	Error reporting function.

SplinePointsFromSplines()

template<typename Spline >

static std::vector< PoseWithCurvature > frc::TrajectoryGenerator::SplinePointsFromSplines ( const std::vector< Spline > &  splines )

inlinestatic

Generate spline points from a vector of splines by parameterizing the splines.

Parameters

splines

The splines to parameterize.

Returns

The spline points for use in time parameterization of a trajectory.

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

• frc/trajectory/TrajectoryGenerator.h