WPILibC++  2020.3.2-60-g3011ebe
frc::Trajectory Class Reference

Represents a time-parameterized trajectory. More...

#include <Trajectory.h>

## Classes

struct  State
Represents one point on the trajectory. More...

## Public Member Functions

Trajectory (const std::vector< State > &states)
Constructs a trajectory from a vector of states.

units::second_t TotalTime () const
Returns the overall duration of the trajectory. More...

const std::vector< State > & States () const
Return the states of the trajectory. More...

State Sample (units::second_t t) const
Sample the trajectory at a point in time. More...

Trajectory TransformBy (const Transform2d &transform)
Transforms all poses in the trajectory by the given transform. More...

Trajectory RelativeTo (const Pose2d &pose)
Transforms all poses in the trajectory so that they are relative to the given pose. More...

Pose2d InitialPose () const
Returns the initial pose of the trajectory. More...

## Detailed Description

Represents a time-parameterized trajectory.

The trajectory contains of various States that represent the pose, curvature, time elapsed, velocity, and acceleration at that point.

## ◆ InitialPose()

 Pose2d frc::Trajectory::InitialPose ( ) const
inline

Returns the initial pose of the trajectory.

Returns
The initial pose of the trajectory.

## ◆ RelativeTo()

 Trajectory frc::Trajectory::RelativeTo ( const Pose2d & pose )

Transforms all poses in the trajectory so that they are relative to the given pose.

This is useful for converting a field-relative trajectory into a robot-relative trajectory.

Parameters
 pose The pose that is the origin of the coordinate frame that the current trajectory will be transformed into.
Returns
The transformed trajectory.

## ◆ Sample()

 State frc::Trajectory::Sample ( units::second_t t ) const

Sample the trajectory at a point in time.

Parameters
 t The point in time since the beginning of the trajectory to sample.
Returns
The state at that point in time.

## ◆ States()

 const std::vector& frc::Trajectory::States ( ) const
inline

Return the states of the trajectory.

Returns
The states of the trajectory.

## ◆ TotalTime()

 units::second_t frc::Trajectory::TotalTime ( ) const
inline

Returns the overall duration of the trajectory.

Returns
The duration of the trajectory.

## ◆ TransformBy()

 Trajectory frc::Trajectory::TransformBy ( const Transform2d & transform )

Transforms all poses in the trajectory by the given transform.

This is useful for converting a robot-relative trajectory into a field-relative trajectory. This works with respect to the first pose in the trajectory.

Parameters
 transform The transform to transform the trajectory by.
Returns
The transformed trajectory.

The documentation for this class was generated from the following file:
• /__w/1/s/wpilibc/src/main/native/include/frc/trajectory/Trajectory.h