ChoreoTrajectory.h

// Copyright (c) Choreo contributors
 
#pragma once
 
#include <vector>
 
#include "ChoreoTrajectoryState.h"
 
namespace choreolib {
class ChoreoTrajectory {
 public:
  ChoreoTrajectory() = default;
 
  explicit ChoreoTrajectory(const std::vector<ChoreoTrajectoryState>& states);
 
  ChoreoTrajectoryState Sample(units::second_t timestamp,
                               bool mirrorForRedAlliance = false);
 
  frc::Pose2d GetInitialPose() const;
 
  frc::Pose2d GetFlippedInitialPose() const;
 
  frc::Pose2d GetFinalPose() const;
 
  frc::Pose2d GetFlippedFinalPose() const;
 
  units::second_t GetTotalTime() const;
 
  std::vector<frc::Pose2d> GetPoses() const;
 
  ChoreoTrajectory Flipped() const;
 
  std::vector<ChoreoTrajectoryState> GetSamples() const;
 
  void SetSamples(const std::vector<ChoreoTrajectoryState>& newSamples);
 
 private:
  ChoreoTrajectoryState SampleInternal(units::second_t timestamp);
  std::vector<ChoreoTrajectoryState> samples;
};
 
void to_json(wpi::json& json, const ChoreoTrajectory& traj);
void from_json(const wpi::json& json, ChoreoTrajectory& traj);
}  // namespace choreolib