Package com.choreo.lib

Class ChoreoTrajectory

  • public class ChoreoTrajectory
extends Object
    A trajectory loaded from Choreo.

    • Constructor Detail

      • ChoreoTrajectory

        public ChoreoTrajectory()
        Create an empty ChoreoTrajectory.

      • ChoreoTrajectory

        public ChoreoTrajectory​(List<ChoreoTrajectoryState> samples)
        Constructs a new trajectory from a list of trajectory states
        Parameters:
        samples - a vector containing a list of ChoreoTrajectoryStates

    • Method Detail

      • getInitialState

        public ChoreoTrajectoryState getInitialState()
        Returns the first ChoreoTrajectoryState in the trajectory.
        Returns:
        The first ChoreoTrajectoryState in the trajectory.

      • getFinalState

        public ChoreoTrajectoryState getFinalState()
        Returns the last ChoreoTrajectoryState in the trajectory.
        Returns:
        The last ChoreoTrajectoryState in the trajectory.

      • sample

        public ChoreoTrajectoryState sample​(double timestamp)
        Return an interpolated, non-mirrored sample of the trajectory at the given timestamp.
        Parameters:
        timestamp - The timestamp of this sample relative to the beginning of the trajectory.
        Returns:
        The ChoreoTrajectoryState at the given time.

      • sample

        public ChoreoTrajectoryState sample​(double timestamp,
                                    boolean mirrorForRedAlliance)
        Return an interpolated sample of the trajectory at the given timestamp.
        Parameters:
        timestamp - The timestamp of this sample relative to the beginning of the trajectory.
        mirrorForRedAlliance - whether or not to return the sample as mirrored across the field midline (as in 2023).
        Returns:
        The ChoreoTrajectoryState at the given time.

      • getSamples

        public List<ChoreoTrajectoryState> getSamples()
        Returns the list of states for this trajectory.
        Returns:
        this trajectory's states.

      • getInitialPose

        public Pose2d getInitialPose()
        Returns the initial, non-mirrored pose of the trajectory.
        Returns:
        the initial, non-mirrored pose of the trajectory.

      • getFlippedInitialPose

        public Pose2d getFlippedInitialPose()
        Returns the initial, mirrored pose of the trajectory.
        Returns:
        the initial, mirrored pose of the trajectory.

      • getFinalPose

        public Pose2d getFinalPose()
        Returns the final, non-mirrored pose of the trajectory.
        Returns:
        the final, non-mirrored pose of the trajectory.

      • getFlippedFinalPose

        public Pose2d getFlippedFinalPose()
        Returns the final, mirrored pose of the trajectory.
        Returns:
        the final, mirrored pose of the trajectory.

      • getTotalTime

        public double getTotalTime()
        Returns the total time of the trajectory (the timestamp of the last sample)
        Returns:
        the total time of the trajectory (the timestamp of the last sample)

      • getPoses

        public Pose2d[] getPoses()
        Returns the array of poses corresponding to the trajectory.
        Returns:
        the array of poses corresponding to the trajectory.

      • flipped

        public ChoreoTrajectory flipped()
        Returns this trajectory, mirrored across the field midline.
        Returns:
        this trajectory, mirrored across the field midline.