Package xbot.common.trajectory

Class SimpleInterpolator

java.lang.Object

xbot.common.trajectory.SimpleInterpolator

public class SimpleInterpolator
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
class	SimpleInterpolator.InterpolationResult

Constructor Summary

Constructors

Constructor	Description
SimpleInterpolator(RobotAssertionManager assertionManager)

Method Summary

Modifier and Type	Method	Description
SimpleInterpolator.InterpolationResult	calculateTarget(Translation2d currentLocation)
void	initialize(ProvidesInterpolationData baseline, SwerveSimpleTrajectoryMode mode)
SwerveKinematicsCalculator	newCalculator(Translation2d targetPointTranslation2d, SwervePointKinematics kinematics)
void	setKeyPoints(List<? extends ProvidesInterpolationData> keyPoints)
void	setMinimumDistanceFromChasePointInMeters(double minimumDistanceFromChasePointInMeters)

Methods inherited from class java.lang.Object

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

Constructor Details

SimpleInterpolator

public SimpleInterpolator(RobotAssertionManager assertionManager)

Method Details

setKeyPoints

public void setKeyPoints(List<? extends ProvidesInterpolationData> keyPoints)

setMinimumDistanceFromChasePointInMeters

public void setMinimumDistanceFromChasePointInMeters(double minimumDistanceFromChasePointInMeters)

initialize

public void initialize(ProvidesInterpolationData baseline,
 SwerveSimpleTrajectoryMode mode)

newCalculator

public SwerveKinematicsCalculator newCalculator(Translation2d targetPointTranslation2d,
 SwervePointKinematics kinematics)

calculateTarget

public SimpleInterpolator.InterpolationResult calculateTarget(Translation2d currentLocation)