Package edu.wpi.first.math.trajectory

Class TrajectoryConfig

java.lang.Object

edu.wpi.first.math.trajectory.TrajectoryConfig

public class TrajectoryConfig
extends Object

Represents the configuration for generating a trajectory. This class stores the start velocity, end velocity, max velocity, max acceleration, custom constraints, and the reversed flag.

The class must be constructed with a max velocity and max acceleration. The other parameters (start velocity, end velocity, constraints, reversed) have been defaulted to reasonable values (0, 0, {}, false). These values can be changed via the setXXX methods.

Constructor Summary

Constructors

Constructor	Description
TrajectoryConfig(double maxVelocityMetersPerSecond, double maxAccelerationMetersPerSecondSq)	Constructs the trajectory configuration class.
TrajectoryConfig(Measure<Velocity<Distance>> maxVelocity, Measure<Velocity<Velocity<Distance>>> maxAcceleration)	Constructs the trajectory configuration class.

Method Summary

Modifier and Type	Method	Description
TrajectoryConfig	addConstraint(TrajectoryConstraint constraint)	Adds a user-defined constraint to the trajectory.
TrajectoryConfig	addConstraints(List<? extends TrajectoryConstraint> constraints)	Adds all user-defined constraints from a list to the trajectory.
List<TrajectoryConstraint>	getConstraints()	Returns the user-defined constraints of the trajectory.
double	getEndVelocity()	Returns the starting velocity of the trajectory.
double	getMaxAcceleration()	Returns the maximum acceleration of the trajectory.
double	getMaxVelocity()	Returns the maximum velocity of the trajectory.
double	getStartVelocity()	Returns the starting velocity of the trajectory.
boolean	isReversed()	Returns whether the trajectory is reversed or not.
TrajectoryConfig	setEndVelocity(double endVelocityMetersPerSecond)	Sets the end velocity of the trajectory.
TrajectoryConfig	setEndVelocity(Measure<Velocity<Distance>> endVelocity)	Sets the end velocity of the trajectory.
TrajectoryConfig	setKinematics(DifferentialDriveKinematics kinematics)	Adds a differential drive kinematics constraint to ensure that no wheel velocity of a differential drive goes above the max velocity.
TrajectoryConfig	setKinematics(MecanumDriveKinematics kinematics)	Adds a mecanum drive kinematics constraint to ensure that no wheel velocity of a mecanum drive goes above the max velocity.
TrajectoryConfig	setKinematics(SwerveDriveKinematics kinematics)	Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.
TrajectoryConfig	setReversed(boolean reversed)	Sets the reversed flag of the trajectory.
TrajectoryConfig	setStartVelocity(double startVelocityMetersPerSecond)	Sets the start velocity of the trajectory.
TrajectoryConfig	setStartVelocity(Measure<Velocity<Distance>> startVelocity)	Sets the start velocity of the trajectory.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

TrajectoryConfig

public TrajectoryConfig(double maxVelocityMetersPerSecond, double maxAccelerationMetersPerSecondSq)

Constructs the trajectory configuration class.

Parameters:

maxVelocityMetersPerSecond - The max velocity for the trajectory.

maxAccelerationMetersPerSecondSq - The max acceleration for the trajectory.

TrajectoryConfig

public TrajectoryConfig(Measure<Velocity<Distance>> maxVelocity, Measure<Velocity<Velocity<Distance>>> maxAcceleration)

Constructs the trajectory configuration class.

Parameters:

maxVelocity - The max velocity for the trajectory.

maxAcceleration - The max acceleration for the trajectory.

Method Details

addConstraint

public TrajectoryConfig addConstraint(TrajectoryConstraint constraint)

Adds a user-defined constraint to the trajectory.

Parameters:

constraint - The user-defined constraint.

Returns:

Instance of the current config object.

addConstraints

public TrajectoryConfig addConstraints(List<? extends TrajectoryConstraint> constraints)

Adds all user-defined constraints from a list to the trajectory.

Parameters:

constraints - List of user-defined constraints.

Returns:

Instance of the current config object.

setKinematics

public TrajectoryConfig setKinematics(DifferentialDriveKinematics kinematics)

Adds a differential drive kinematics constraint to ensure that no wheel velocity of a differential drive goes above the max velocity.

Parameters:

kinematics - The differential drive kinematics.

Returns:

Instance of the current config object.

setKinematics

public TrajectoryConfig setKinematics(MecanumDriveKinematics kinematics)

Adds a mecanum drive kinematics constraint to ensure that no wheel velocity of a mecanum drive goes above the max velocity.

Parameters:

kinematics - The mecanum drive kinematics.

Returns:

Instance of the current config object.

setKinematics

public TrajectoryConfig setKinematics(SwerveDriveKinematics kinematics)

Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.

Parameters:

kinematics - The swerve drive kinematics.

Returns:

Instance of the current config object.

getStartVelocity

public double getStartVelocity()

Returns the starting velocity of the trajectory.

Returns:

The starting velocity of the trajectory.

setStartVelocity

public TrajectoryConfig setStartVelocity(double startVelocityMetersPerSecond)

Sets the start velocity of the trajectory.

Parameters:

startVelocityMetersPerSecond - The start velocity of the trajectory.

Returns:

Instance of the current config object.

setStartVelocity

public TrajectoryConfig setStartVelocity(Measure<Velocity<Distance>> startVelocity)

Sets the start velocity of the trajectory.

Parameters:

startVelocity - The start velocity of the trajectory.

Returns:

Instance of the current config object.

getEndVelocity

public double getEndVelocity()

Returns the starting velocity of the trajectory.

Returns:

The starting velocity of the trajectory.

setEndVelocity

public TrajectoryConfig setEndVelocity(double endVelocityMetersPerSecond)

Sets the end velocity of the trajectory.

Parameters:

endVelocityMetersPerSecond - The end velocity of the trajectory.

Returns:

Instance of the current config object.

setEndVelocity

public TrajectoryConfig setEndVelocity(Measure<Velocity<Distance>> endVelocity)

Sets the end velocity of the trajectory.

Parameters:

endVelocity - The end velocity of the trajectory.

Returns:

Instance of the current config object.

getMaxVelocity

public double getMaxVelocity()

Returns the maximum velocity of the trajectory.

Returns:

The maximum velocity of the trajectory.

getMaxAcceleration

public double getMaxAcceleration()

Returns the maximum acceleration of the trajectory.

Returns:

The maximum acceleration of the trajectory.

getConstraints

public List<TrajectoryConstraint> getConstraints()

Returns the user-defined constraints of the trajectory.

Returns:

The user-defined constraints of the trajectory.

isReversed

public boolean isReversed()

Returns whether the trajectory is reversed or not.

Returns:

whether the trajectory is reversed or not.

setReversed

public TrajectoryConfig setReversed(boolean reversed)

Sets the reversed flag of the trajectory.

Parameters:

reversed - Whether the trajectory should be reversed or not.

Returns:

Instance of the current config object.