Package xbot.common.trajectory

Class XbotSwervePoint

java.lang.Object

xbot.common.trajectory.XbotSwervePoint

All Implemented Interfaces:

ProvidesInterpolationData

public class XbotSwervePoint
extends Object
implements ProvidesInterpolationData

Field Summary

Fields

Modifier and Type	Field	Description
Pose2d	keyPose
double	secondsToPoint

Constructor Summary

Constructors

Constructor	Description
XbotSwervePoint(double x, double y, double degrees, double secondsToPoint)
XbotSwervePoint(Pose2d keyPose, double secondsToPoint)
XbotSwervePoint(Translation2d translation, Rotation2d rotation, double secondsToPoint)

Method Summary

Modifier and Type	Method	Description
static XbotSwervePoint	createPotentiallyFilppedXbotSwervePoint(Pose2d pose, double durationInSeconds)
static XbotSwervePoint	createPotentiallyFilppedXbotSwervePoint(Translation2d targetLocation, Rotation2d targetHeading, double durationInSeconds)
static Trajectory	generateTrajectory(List<XbotSwervePoint> swervePoints)
SwervePointKinematics	getKinematics()
Rotation2d	getRotation2d()
double	getSecondsForSegment()
Translation2d	getTranslation2d()
void	setKinematics(SwervePointKinematics kinematics)
void	setPose(Pose2d pose)

Methods inherited from class java.lang.Object

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

Field Details

keyPose

public Pose2d keyPose

secondsToPoint

public double secondsToPoint

Constructor Details

XbotSwervePoint

public XbotSwervePoint(Pose2d keyPose,
 double secondsToPoint)

XbotSwervePoint

public XbotSwervePoint(Translation2d translation,
 Rotation2d rotation,
 double secondsToPoint)

XbotSwervePoint

public XbotSwervePoint(double x,
 double y,
 double degrees,
 double secondsToPoint)

Method Details

setKinematics

public void setKinematics(SwervePointKinematics kinematics)

getKinematics

public SwervePointKinematics getKinematics()

Specified by:

getKinematics in interface ProvidesInterpolationData

setPose

public void setPose(Pose2d pose)

generateTrajectory

public static Trajectory generateTrajectory(List<XbotSwervePoint> swervePoints)

getTranslation2d

public Translation2d getTranslation2d()

Specified by:

getTranslation2d in interface ProvidesInterpolationData

getSecondsForSegment

public double getSecondsForSegment()

Specified by:

getSecondsForSegment in interface ProvidesInterpolationData

getRotation2d

public Rotation2d getRotation2d()

Specified by:

getRotation2d in interface ProvidesInterpolationData

createPotentiallyFilppedXbotSwervePoint

public static XbotSwervePoint createPotentiallyFilppedXbotSwervePoint(Translation2d targetLocation,
 Rotation2d targetHeading,
 double durationInSeconds)

createPotentiallyFilppedXbotSwervePoint

public static XbotSwervePoint createPotentiallyFilppedXbotSwervePoint(Pose2d pose,
 double durationInSeconds)