BunyipsLib/org.murraybridgebunyips.bunyipslib/PurePursuit/PathMaker

PathMaker

open inner class PathMaker

Utility construction class for Path instances that can be executed by PurePursuit. Pathing generated through this builder must follow continuity.

Constructors

PathMaker

constructor(startPoseAtRuntime: Supplier<Pose2d>)

Create a new PathMaker.

Functions

addTask

open fun addTask(): PurePursuitTask

Adds a task to the AutonomousBunyipsOpMode queue that will build and run the path when executed.

addTaskNow

open fun addTaskNow(): PurePursuitTask

Adds a task to the AutonomousBunyipsOpMode queue that builds the path now and returns a task that will track the path when executed.

back

open fun back(distance: Double, unit: Distance): PurePursuit.PathMaker

Adds a line straight backward.

buildPath

open fun buildPath(): Path

Builds the path and returns it.

buildTask

open fun buildTask(): PurePursuitTask

Build a task that will build and run the path when executed.

buildTaskNow

open fun buildTaskNow(): PurePursuitTask

Builds the path now and returns a task that will track the path when executed.

forward

open fun forward(distance: Double, unit: Distance): PurePursuit.PathMaker

Adds a line straight forward.

lineTo

open fun lineTo(endPosition: Vector2d, unit: Distance): PurePursuit.PathMaker

Adds a line segment with tangent heading interpolation.

lineToConstantHeading

open fun lineToConstantHeading(endPosition: Vector2d, unit: Distance): PurePursuit.PathMaker

Adds a line segment with constant heading interpolation.

lineToLinearHeading

open fun lineToLinearHeading(endPose: Pose2d, vectorUnit: Distance, angleUnit: Angle): PurePursuit.PathMaker

Adds a line segment with linear heading interpolation.

lineToSplineHeading

open fun lineToSplineHeading(endPose: Pose2d, vectorUnit: Distance, angleUnit: Angle): PurePursuit.PathMaker

Adds a line segment with spline heading interpolation.

reversed

open fun reversed(): PurePursuit.PathMaker

Run this path backwards by adding a 180-degree tangent to the start pose.

splineTo

open fun splineTo(endPosition: Vector2d, distanceUnit: Distance, endTangent: Double, angleUnit: Angle): PurePursuit.PathMaker

Adds a spline segment with tangent heading interpolation.

splineToConstantHeading

open fun splineToConstantHeading(endPosition: Vector2d, distanceUnit: Distance, endTangent: Double, angleUnit: Angle): PurePursuit.PathMaker

Adds a spline segment with constant heading interpolation.

splineToLinearHeading

open fun splineToLinearHeading(endPose: Pose2d, vectorUnit: Distance, angleUnit: Angle, endTangent: Double, endTangentUnit: Angle): PurePursuit.PathMaker

Adds a spline segment with linear heading interpolation.

splineToSplineHeading

open fun splineToSplineHeading(endPose: Pose2d, vectorUnit: Distance, angleUnit: Angle, endTangent: Double, endTangentUnit: Angle): PurePursuit.PathMaker

Adds a spline segment with spline heading interpolation.

strafeLeft

open fun strafeLeft(distance: Double, unit: Distance): PurePursuit.PathMaker

Adds a segment that strafes left in the robot reference frame.

strafeRight

open fun strafeRight(distance: Double, unit: Distance): PurePursuit.PathMaker

Adds a segment that strafes right in the robot reference frame.

strafeTo

open fun strafeTo(endPosition: Vector2d, unit: Distance): PurePursuit.PathMaker

Adds a strafe segment (i.e., a line segment with constant heading interpolation).

withName

open fun withName(taskName: String): PurePursuit.PathMaker

Set a custom task name of the path to show up in the telemetry.

withPriority

open fun withPriority(@NonNull p: RoadRunner.PriorityLevel): PurePursuit.PathMaker

Set the priority level of the task if being added to a AutonomousBunyipsOpMode via the add task methods.

withStartTangent

open fun withStartTangent(tangent: Double, unit: Angle): PurePursuit.PathMaker

Run this path with this defined starting tangent.

withTimeout

open fun withTimeout(interval: Measure<Time>): PurePursuit.PathMaker

Set a timeout for the path, to be applied to the overhead task running the path.