BunyipsLib/org.murraybridgebunyips.bunyipslib.roadrunner.trajectorysequence/TrajectorySequenceBuilder/TrajectorySequenceBuilder

TrajectorySequenceBuilder

constructor(startPose: Pose2d, startTangent: Double, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseTurnConstraintMaxAngVel: Double, baseTurnConstraintMaxAngAccel: Double)

Create a new TrajectorySequenceBuilder

Parameters

startPose

The starting pose (in, in, radians)

startTangent

The starting tangent (radians)

baseVelConstraint

The base velocity constraint (inches/sec)

baseAccelConstraint

The base acceleration constraint (inches/sec^2)

baseTurnConstraintMaxAngVel

The base turn constraint maximum angular velocity (radians/sec)

baseTurnConstraintMaxAngAccel

The base turn constraint maximum angular acceleration (radians/sec^2)

constructor(startPose: Pose2d, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseTurnConstraintMaxAngVel: Double, baseTurnConstraintMaxAngAccel: Double)

Create a new TrajectorySequenceBuilder

Parameters

startPose

The starting pose (in, in, radians)

baseVelConstraint

The base velocity constraint (inches/sec)

baseAccelConstraint

The base acceleration constraint (inches/sec^2)

baseTurnConstraintMaxAngVel

The base turn constraint maximum angular velocity (radians/sec)

baseTurnConstraintMaxAngAccel

The base turn constraint maximum angular acceleration (radians/sec^2)