Package edu.wpi.first.math.trajectory

Class TrajectoryGenerator

java.lang.Object

edu.wpi.first.math.trajectory.TrajectoryGenerator

public final class TrajectoryGenerator
extends Object

Helper class used to generate trajectories with various constraints.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	TrajectoryGenerator.ControlVectorList	Control vector list type that works around type erasure signatures.

Method Summary

Modifier and Type	Method	Description
static Trajectory	generateTrajectory(Pose2d start, List<Translation2d> interiorWaypoints, Pose2d end, TrajectoryConfig config)	Generates a trajectory from the given waypoints and config.
static Trajectory	generateTrajectory(Spline.ControlVector initial, List<Translation2d> interiorWaypoints, Spline.ControlVector end, TrajectoryConfig config)	Generates a trajectory from the given control vectors and config.
static Trajectory	generateTrajectory(TrajectoryGenerator.ControlVectorList controlVectors, TrajectoryConfig config)	Generates a trajectory from the given quintic control vectors and config.
static Trajectory	generateTrajectory(List<Pose2d> waypoints, TrajectoryConfig config)	Generates a trajectory from the given waypoints and config.
static void	setErrorHandler(BiConsumer<String,StackTraceElement[]> func)	Set error reporting function.
static List<PoseWithCurvature>	splinePointsFromSplines(Spline[] splines)	Generate spline points from a vector of splines by parameterizing the splines.

Methods inherited from class java.lang.Object

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

Method Details

setErrorHandler

public static void setErrorHandler(BiConsumer<String,StackTraceElement[]> func)

Set error reporting function. By default, DriverStation.reportError() is used.

Parameters:

func - Error reporting function, arguments are error and stackTrace.

generateTrajectory

public static Trajectory generateTrajectory(Spline.ControlVector initial, List<Translation2d> interiorWaypoints, Spline.ControlVector end, TrajectoryConfig config)

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

public static Trajectory generateTrajectory(Pose2d start, List<Translation2d> interiorWaypoints, Pose2d end, TrajectoryConfig config)

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

public static Trajectory generateTrajectory(TrajectoryGenerator.ControlVectorList controlVectors, TrajectoryConfig config)

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.

generateTrajectory

public static Trajectory generateTrajectory(List<Pose2d> waypoints, TrajectoryConfig config)

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.

splinePointsFromSplines

public static List<PoseWithCurvature> splinePointsFromSplines(Spline[] splines)

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.

Throws:

SplineParameterizer.MalformedSplineException - When the spline is malformed (e.g. has close adjacent points with approximately opposing headings)