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	accelerationMetersPerSecondSq	The acceleration at that point of the trajectory.
double	curvatureRadPerMeter	The curvature at that point of the trajectory.
Pose2d	poseMeters	The pose at that point of the trajectory.
static final TrajectoryStateProto	proto	Trajectory.State protobuf for serialization.
double	timeSeconds	The time elapsed since the beginning of the trajectory.
double	velocityMetersPerSecond	The speed at that point of the trajectory.

Constructor Summary

Constructors

Constructor	Description
State()	Default constructor.
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

Trajectory.State protobuf for serialization.

timeSeconds

public double timeSeconds

The time elapsed since the beginning of the trajectory.

velocityMetersPerSecond

public double velocityMetersPerSecond

The speed at that point of the trajectory.

accelerationMetersPerSecondSq

public double accelerationMetersPerSecondSq

The acceleration at that point of the trajectory.

poseMeters

public Pose2d poseMeters

The pose at that point of the trajectory.

curvatureRadPerMeter

public double curvatureRadPerMeter

The curvature at that point of the trajectory.

Constructor Details

State

public State()

Default constructor.

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