WPILibC++  2021.3.1
frc::Trajectory Class Reference

Represents a time-parameterized trajectory. More...

#include <frc/trajectory/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...
 
Trajectory operator+ (const Trajectory &other) const
 Concatenates another trajectory to the current trajectory. More...
 
Pose2d InitialPose () const
 Returns the initial pose of the trajectory. More...
 
bool operator== (const Trajectory &other) const
 Checks equality between this Trajectory and another object. More...
 
bool operator!= (const Trajectory &other) const
 Checks inequality between this Trajectory and another object. 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.

Member Function Documentation

◆ InitialPose()

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

Returns the initial pose of the trajectory.

Returns
The initial pose of the trajectory.

◆ operator!=()

bool frc::Trajectory::operator!= ( const Trajectory other) const

Checks inequality between this Trajectory and another object.

Parameters
otherThe other object.
Returns
Whether the two objects are inequal.

◆ operator+()

Trajectory frc::Trajectory::operator+ ( const Trajectory other) const

Concatenates another trajectory to the current trajectory.

The user is responsible for making sure that the end pose of this trajectory and the start pose of the other trajectory match (if that is the desired behavior).

Parameters
otherThe trajectory to concatenate.
Returns
The concatenated trajectory.

◆ operator==()

bool frc::Trajectory::operator== ( const Trajectory other) const

Checks equality between this Trajectory and another object.

Parameters
otherThe other object.
Returns
Whether the two objects are equal.

◆ 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
poseThe 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
tThe point in time since the beginning of the trajectory to sample.
Returns
The state at that point in time.

◆ States()

const std::vector<State>& 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
transformThe transform to transform the trajectory by.
Returns
The transformed trajectory.

The documentation for this class was generated from the following file: