Package edu.wpi.first.math.trajectory

Class Trajectory

java.lang.Object
edu.wpi.first.math.trajectory.Trajectory
All Implemented Interfaces:
ProtobufSerializable, WPISerializable
public class Trajectory 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 Details

  • Constructor Details

  • Method Details

    • getInitialPose

      public Pose2d getInitialPose()
      Returns the initial pose of the trajectory.
      Returns:
      The initial pose of the trajectory.

    • getTotalTimeSeconds

      public double getTotalTimeSeconds()
      Returns the overall duration of the trajectory.
      Returns:
      The duration of the trajectory.

    • getStates

      public List<Trajectory.State> getStates()
      Return the states of the trajectory.
      Returns:
      The states of the trajectory.

    • sample

      public Trajectory.State sample(double timeSeconds)
      Sample the trajectory at a point in time.
      Parameters:
      timeSeconds - The point in time since the beginning of the trajectory to sample.
      Returns:
      The state at that point in time.
      Throws:
      IllegalStateException - if the trajectory has no states.

    • transformBy

      public Trajectory transformBy(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.

    • relativeTo

      public Trajectory relativeTo(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.

    • concatenate

      public Trajectory concatenate(Trajectory other)
      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.

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • hashCode

      public int hashCode()
      Overrides:
      hashCode in class Object

    • equals

      public boolean equals(Object obj)
      Overrides:
      equals in class Object