Package xbot.common.subsystems.pose

Class ObstacleMap

java.lang.Object

xbot.common.subsystems.pose.ObstacleMap

public abstract class ObstacleMap
extends Object

Constructor Summary

Constructors

Constructor	Description
ObstacleMap(List<IFieldObstacle> fieldObstacles, XSwerveDriveElectricalContract electricalContract)

Method Summary

Modifier and Type	Method	Description
Optional<IFieldObstacle>	closestObstacle(Pose2d pose, boolean allowToughTerrain)
boolean	doesRobotPathIntersect(Translation2d start, Translation2d end, boolean allowToughTerrain)

Methods inherited from class java.lang.Object

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

Constructor Details

ObstacleMap

public ObstacleMap(List<IFieldObstacle> fieldObstacles,
 XSwerveDriveElectricalContract electricalContract)

Method Details

closestObstacle

public Optional<IFieldObstacle> closestObstacle(Pose2d pose,
 boolean allowToughTerrain)

doesRobotPathIntersect

public boolean doesRobotPathIntersect(Translation2d start,
 Translation2d end,
 boolean allowToughTerrain)