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

lineToSplineHeading

open fun lineToSplineHeading(endPoseInchRad: Pose2d): T

Move in a straight line to a given position with a spline heading.

Return

The builder

Parameters

endPoseInchRad

The end pose (in, in, radians)

open fun lineToSplineHeading(endPose: Pose2d, distanceUnit: Distance, angleUnit: Angle): T

Move in a straight line to a given position with a spline heading.

Return

The builder

Parameters

endPose

The end pose

distanceUnit

The unit of the end pose vector (will be converted to inches)

angleUnit

The unit of the end pose heading (will be converted to radians)

open fun lineToSplineHeading(endPoseInchRad: Pose2d, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): T

Move in a straight line to a given position with a spline heading and custom velocity and acceleration constraints.

Return

The builder

Parameters

endPoseInchRad

The end pose (in, in, radians)

velConstraint

The velocity constraint (inches/sec)

accelConstraint

The acceleration constraint (inches/sec^2)

open fun lineToSplineHeading(endPose: Pose2d, distanceUnit: Distance, angleUnit: Angle, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): T

Move in a straight line to a given position with a spline heading and custom velocity and acceleration constraints.

Return

The builder

Parameters

endPose

The end pose

distanceUnit

The unit of the end pose vector (will be converted to inches)

angleUnit

The unit of the end pose heading (will be converted to radians)

velConstraint

The velocity constraint (inches/sec)

accelConstraint

The acceleration constraint (inches/sec^2)