choreolib::ChoreoTrajectory Class Reference

#include <ChoreoTrajectory.h>

Public Member Functions
	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)

Detailed Description

Represents a trajectory loaded from Choreo. Made up of ChoreoTrajectoryStates

Constructor & Destructor Documentation

ChoreoTrajectory()

ChoreoTrajectory::ChoreoTrajectory ( const std::vector< ChoreoTrajectoryState > & states )

explicit

Constructs a new trajectory from a list of trajectory states

Parameters

states

a vector containing a list of ChoreoTrajectoryStates

Member Function Documentation

Flipped()

ChoreoTrajectory ChoreoTrajectory::Flipped

(

)

const

Returns a copy of this trajectory flipped across the midline of the field

Returns

a copy of this trajectory flipped across the midline of the field

GetFinalPose()

frc::Pose2d ChoreoTrajectory::GetFinalPose

(

)

const

Returns the final, non-mirrored pose of the trajectory.

Returns

the final, non-mirrored pose of the trajectory.

GetFlippedFinalPose()

frc::Pose2d ChoreoTrajectory::GetFlippedFinalPose

(

)

const

Returns the final, mirrored pose of the trajectory.

Returns

the final, mirrored pose of the trajectory.

GetFlippedInitialPose()

frc::Pose2d ChoreoTrajectory::GetFlippedInitialPose

(

)

const

Returns the initial, mirrored pose of the trajectory.

Returns

the initial, mirrored pose of the trajectory.

GetInitialPose()

frc::Pose2d ChoreoTrajectory::GetInitialPose

(

)

const

Returns the initial, non-mirrored pose of the trajectory.

Returns

the initial, non-mirrored pose of the trajectory.

GetPoses()

std::vector< frc::Pose2d > ChoreoTrajectory::GetPoses

(

)

const

Returns a list of robot poses at each sample of the trajectory

Returns

a list of robot poses at each sample of the trajectory

GetSamples()

std::vector< ChoreoTrajectoryState > ChoreoTrajectory::GetSamples

(

)

const

Returns a list of all the states in this trajectory

Returns

a list of all the states in this trajectory

GetTotalTime()

units::second_t ChoreoTrajectory::GetTotalTime

(

)

const

Returns the total run time of the trajectory

Returns

the total run time of the trajectory

Sample()

ChoreoTrajectoryState ChoreoTrajectory::Sample	(	units::second_t	timestamp,
		bool	mirrorForRedAlliance = false )

Samples the trajectory at the specified timestamp and optionally mirrors if on the red alliance

Parameters

timestamp	how far into the trajectory we want to sample
mirrorForRedAlliance	defaults to false. If true, mirrors the state across the midline of the field

Returns

A ChoreoTrajectoryState that was sampled from this trajectory

SetSamples()

void ChoreoTrajectory::SetSamples

(

const std::vector< ChoreoTrajectoryState > &

newSamples

)

Sets the samples of this trajectory without constructing a new trajectory

Parameters

newSamples

a list of all the new states to set this trajectory to

---

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

• src/main/native/include/choreo/lib/ChoreoTrajectory.h
• src/main/native/cpp/choreo/lib/ChoreoTrajectory.cpp