Package com.choreo.lib

Class ChoreoTrajectoryState

java.lang.Object

com.choreo.lib.ChoreoTrajectoryState

All Implemented Interfaces:

Interpolatable<ChoreoTrajectoryState>

public class ChoreoTrajectoryState
extends Object
implements Interpolatable<ChoreoTrajectoryState>

A single robot state in a ChoreoTrajectory.

Field Summary

Fields

Modifier and Type	Field	Description
double	angularVelocity	The angular velocity of the state in rad/s.
double	heading	The heading of the state in radians, with 0 being in the +X direction.
double	timestamp	The timestamp of this state, relative to the beginning of the trajectory.
double	velocityX	The velocity of the state in the X direction in m/s.
double	velocityY	The velocity of the state in the X direction in m/s.
double	x	The X position of the state in meters.
double	y	The Y position of the state in meters.

Constructor Summary

Constructors

Constructor	Description
ChoreoTrajectoryState(double timestamp, double x, double y, double heading, double velocityX, double velocityY, double angularVelocity)	Constructs a ChoreoTrajectoryState with the specified parameters.

Method Summary

Modifier and Type	Method	Description
double[]	asArray()	Returns this state as a double array: {timestamp, x, y, heading, velocityX, velocityY, angularVelocity}.
ChoreoTrajectoryState	flipped()	Returns this state, mirrored across the field midline.
ChassisSpeeds	getChassisSpeeds()	Returns the field-relative chassis speeds of this state.
Pose2d	getPose()	Returns the pose at this state.
ChoreoTrajectoryState	interpolate(ChoreoTrajectoryState endValue, double t)	Interpolate between this state and the provided state.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

timestamp

public final double timestamp

The timestamp of this state, relative to the beginning of the trajectory.

x

public final double x

The X position of the state in meters.

y

public final double y

The Y position of the state in meters.

heading

public final double heading

The heading of the state in radians, with 0 being in the +X direction.

velocityX

public final double velocityX

The velocity of the state in the X direction in m/s.

velocityY

public final double velocityY

The velocity of the state in the X direction in m/s.

angularVelocity

public final double angularVelocity

The angular velocity of the state in rad/s.

Constructor Detail

ChoreoTrajectoryState

public ChoreoTrajectoryState(double timestamp,
                             double x,
                             double y,
                             double heading,
                             double velocityX,
                             double velocityY,
                             double angularVelocity)

Constructs a ChoreoTrajectoryState with the specified parameters.

Parameters:

timestamp - The timestamp of this state, relative to the beginning of the trajectory.

x - The X position of the state in meters.

y - The Y position of the state in meters.

heading - The heading of the state in radians, with 0 being in the +X direction.

velocityX - The velocity of the state in the X direction in m/s.

velocityY - The velocity of the state in the X direction in m/s.

angularVelocity - The angular velocity of the state in rad/s.

Method Detail

getPose

public Pose2d getPose()

Returns the pose at this state.

Returns:

the pose at this state.

getChassisSpeeds

public ChassisSpeeds getChassisSpeeds()

Returns the field-relative chassis speeds of this state.

Returns:

the field-relative chassis speeds of this state.

interpolate

public ChoreoTrajectoryState interpolate(ChoreoTrajectoryState endValue,
                                         double t)

Interpolate between this state and the provided state.

Specified by:

interpolate in interface Interpolatable<ChoreoTrajectoryState>

Parameters:

endValue - The next state. It should have a timestamp after this state.

t - the timestamp of the interpolated state. It should be between this state and endValue.

Returns:

the interpolated state.

asArray

public double[] asArray()

Returns this state as a double array: {timestamp, x, y, heading, velocityX, velocityY, angularVelocity}.

Returns:

This state as a double array: {timestamp, x, y, heading, velocityX, velocityY, angularVelocity}.

flipped

public ChoreoTrajectoryState flipped()

Returns this state, mirrored across the field midline.

Returns:

this state, mirrored across the field midline.