Package xbot.common.subsystems.oracle

Class SwervePointPathPlanning

java.lang.Object

xbot.common.subsystems.oracle.SwervePointPathPlanning

public class SwervePointPathPlanning
extends Object

Constructor Summary

Constructors

Constructor	Description
SwervePointPathPlanning(ObstacleMap obstacleMap, GameField gameField, XSwerveDriveElectricalContract electrical_contract)

Method Summary

Modifier and Type	Method	Description
List<XbotSwervePoint>	generateSwervePoints(Pose2d startingPose, Pose2d endingPose, boolean allowToughTerrain)	Generates a list of swerve points from Point A -> B while avoiding any obstacles in the map.

Methods inherited from class java.lang.Object

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

Constructor Details

SwervePointPathPlanning

@Inject
public SwervePointPathPlanning(ObstacleMap obstacleMap,
 GameField gameField,
 XSwerveDriveElectricalContract electrical_contract)

Method Details

generateSwervePoints

public List<XbotSwervePoint> generateSwervePoints(Pose2d startingPose,
 Pose2d endingPose,
 boolean allowToughTerrain)

Generates a list of swerve points from Point A -> B while avoiding any obstacles in the map.

Parameters:

startingPose - you are at

endingPose - you want to go to

Returns:

a list of swerve points to destination