Public Member Functions
	ChoreoTrajectoryState (units::second_t t, units::meter_t x, units::meter_t y, units::radian_t heading, units::meters_per_second_t xVel, units::meters_per_second_t yVel, units::radians_per_second_t angularVel)

frc::Pose2d	GetPose () const

frc::ChassisSpeeds	GetChassisSpeeds () const

ChoreoTrajectoryState	Interpolate (const ChoreoTrajectoryState &endValue, double i) const

std::array< double, 7 >	AsArray () const

ChoreoTrajectoryState	Flipped () const

Public Attributes
units::second_t	timestamp {0_s}
	The time elapsed since the beginning of the trajectory.

units::meter_t	x = 0_m
	The x position at that point in the trajectory.

units::meter_t	y = 0_m
	The y position at that point in the trajectory.

units::radian_t	heading = 0_rad
	The heading at that point in the trajectory.

units::meters_per_second_t	velocityX = 0_mps
	The x component of the velocity at that point in the trajectory.

units::meters_per_second_t	velocityY = 0_mps
	The y component of the velocity at that point in the trajectory.

units::radians_per_second_t	angularVelocity = 0_rad_per_s
	The angular component of the velocity at that point in the trajectory.

Detailed Description

A single state in a ChoreoTrajectory.

Constructor & Destructor Documentation

ChoreoTrajectoryState::ChoreoTrajectoryState	(	units::second_t	t,
		units::meter_t	x,
		units::meter_t	y,
		units::radian_t	heading,
		units::meters_per_second_t	xVel,
		units::meters_per_second_t	yVel,
		units::radians_per_second_t	angularVel )

Creates a new ChoreoTrajectoryState given all its parameters

Parameters

t	The timestamp of the new state
x	The x position of the robot at this state
y	The y position of the robot at this state
heading	The heading of the robot at this state
xVel	The x velocity of the robot at this state
yVel	The x velocity of the robot at this state
angularVel	The angular velocity of the robot at this state

std::array< double, 7 > ChoreoTrajectoryState::AsArray ( ) const

Returns this state as an array of doubles

ChoreoTrajectoryState ChoreoTrajectoryState::Flipped ( ) const

Returns a new instance of this state mirrored across the midline of the field

Returns: a new instance of this state mirrored across the midline of the field

frc::ChassisSpeeds ChoreoTrajectoryState::GetChassisSpeeds ( ) const

Returns the field-relative chassis speeds of this state.

frc::Pose2d ChoreoTrajectoryState::GetPose ( ) const

Returns the pose of the robot at this state

ChoreoTrajectoryState ChoreoTrajectoryState::Interpolate	(	const ChoreoTrajectoryState &	endValue,
		double	i ) const

Returns a new state interpolated between itself and endValue at i

Parameters

endValue	The next state. It should have a timestamp after this state.
i	how far between the two trajectories we should be in range (0,1)

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