Package edu.wpi.first.math.trajectory

Class TrajectoryUtil

java.lang.Object

edu.wpi.first.math.trajectory.TrajectoryUtil

public final class TrajectoryUtil
extends Object

Trajectory utilities.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	TrajectoryUtil.TrajectorySerializationException	Exception for trajectory serialization failure.

Method Summary

Modifier and Type	Method	Description
static Trajectory	deserializeTrajectory(String json)	Deserializes a Trajectory from JSON exported from PathWeaver.
static Trajectory	fromPathweaverJson(Path path)	Imports a Trajectory from a JSON file exported from PathWeaver.
static String	serializeTrajectory(Trajectory trajectory)	Serializes a Trajectory to PathWeaver-style JSON.
static void	toPathweaverJson(Trajectory trajectory, Path path)	Exports a Trajectory to a PathWeaver-style JSON file.

Methods inherited from class java.lang.Object

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

Method Details

fromPathweaverJson

public static Trajectory fromPathweaverJson(Path path)
                                     throws IOException

Imports a Trajectory from a JSON file exported from PathWeaver.

Parameters:

path - The path of the json file to import from

Returns:

The trajectory represented by the file.

Throws:

IOException - if reading from the file fails.

toPathweaverJson

public static void toPathweaverJson(Trajectory trajectory,
 Path path)
                             throws IOException

Exports a Trajectory to a PathWeaver-style JSON file.

Parameters:

trajectory - The trajectory to export

path - The path of the file to export to

Throws:

IOException - if writing to the file fails.

deserializeTrajectory

public static Trajectory deserializeTrajectory(String json)

Deserializes a Trajectory from JSON exported from PathWeaver.

Parameters:

json - The string containing the serialized JSON

Returns:

the trajectory represented by the JSON

Throws:

TrajectoryUtil.TrajectorySerializationException - if deserialization of the string fails.

serializeTrajectory

public static String serializeTrajectory(Trajectory trajectory)

Serializes a Trajectory to PathWeaver-style JSON.

Parameters:

trajectory - The trajectory to export

Returns:

The string containing the serialized JSON

Throws:

TrajectoryUtil.TrajectorySerializationException - if serialization of the trajectory fails.