Road
constructor(drive: RoadRunnerDrive, startPose: Pose2d, startTangent: Double, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseTurnConstraintMaxAngVel: Double, baseTurnConstraintMaxAngAccel: Double, mirrorPoseRef: Boolean)
Create a new builder for a RoadRunner trajectory task.
Parameters
drive
Drive system to use
start
Starting pose of the trajectory (in, in, radians)
start
Starting tangent of the trajectory (radians)
base
Base velocity constraint (in/s)
base
Base acceleration constraint (in/s^2)
base
Base turn constraint max angular velocity (rad/s)
base
Base turn constraint max angular acceleration (rad/s^2)
mirror
Whether to mirror the startPose if used in a mirrorToRef.
constructor(drive: RoadRunnerDrive, startPose: Pose2d, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseTurnConstraintMaxAngVel: Double, baseTurnConstraintMaxAngAccel: Double, mirrorPoseRef: Boolean)
Create a new builder for a RoadRunner trajectory task.
Parameters
drive
Drive system to use
start
Starting pose of the trajectory (in, in, radians)
base
Base velocity constraint
base
Base acceleration constraint
base
Base turn constraint max angular velocity
base
Base turn constraint max angular acceleration
mirror
Whether to mirror the startPose if used in a mirrorToRef.