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

splineToLinearHeading

open fun splineToLinearHeading(endPoseInchRad: Pose2d, endHeadingRad: Double): T

Spline to a given position with a linear heading.

Return

The builder

Parameters

endPoseInchRad

The end pose (in, in, radians)

endHeadingRad

The end heading (radians)

open fun splineToLinearHeading(endPose: Pose2d, distanceUnit: Distance, angleUnit: Angle, endHeading: Double, endAngleUnit: Angle): T

Spline to a given position with a linear 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)

endHeading

The end heading

endAngleUnit

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

open fun splineToLinearHeading(endPoseInchRad: Pose2d, endHeadingRad: Double, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): T

Spline to a given position with a linear heading and custom velocity and acceleration constraints.

Return

The builder

Parameters

endPoseInchRad

The end pose (in, in, radians)

endHeadingRad

The end heading (radians)

velConstraint

The velocity constraint (inches/sec)

accelConstraint

The acceleration constraint (inches/sec^2)

open fun splineToLinearHeading(endPose: Pose2d, distanceUnit: Distance, angleUnit: Angle, endHeading: Double, endAngleUnit: Angle, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): T

Spline to a given position with a linear 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)

endHeading

The end heading

endAngleUnit

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

velConstraint

The velocity constraint (inches/sec)

accelConstraint

The acceleration constraint (inches/sec^2)