Package xbot.common.trajectory

Class SimpleTimeInterpolator

java.lang.Object

xbot.common.trajectory.SimpleTimeInterpolator

public class SimpleTimeInterpolator
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
class	SimpleTimeInterpolator.InterpolationResult

Constructor Summary

Constructors

Constructor	Description
SimpleTimeInterpolator(RobotAssertionManager assertionManager)

Method Summary

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

Methods inherited from class java.lang.Object

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

Constructor Details

SimpleTimeInterpolator

public SimpleTimeInterpolator(RobotAssertionManager assertionManager)

Method Details

setKeyPoints

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

setMaximumDistanceFromChasePointInMeters

public void setMaximumDistanceFromChasePointInMeters(double maximumDistanceFromChasePointInMeters)

initialize

public void initialize(ProvidesInterpolationData baseline,
 SwerveSimpleTrajectoryMode mode)

newCalculator

public SwerveKinematicsCalculator newCalculator(Translation2d targetPointTranslation2d,
 SwervePointKinematics kinematics)

calculateTarget

public SimpleTimeInterpolator.InterpolationResult calculateTarget(Translation2d currentLocation)