Package frclib.archive

Class FrcHolonomicTrajectory

java.lang.Object
edu.wpi.first.math.trajectory.Trajectory
frclib.archive.FrcHolonomicTrajectory
All Implemented Interfaces:
edu.wpi.first.util.protobuf.ProtobufSerializable, edu.wpi.first.util.WPISerializable
public class FrcHolonomicTrajectory extends edu.wpi.first.math.trajectory.Trajectory
This class modifies the behavior of the Trajectory class in a minor way. The FrcSwervePathFollower class uses a Trajectory object to follow a path. However, that class doesn't decouple heading from the velocity vector direction, which holonomic drivebases are capable of. The path generation in FrcPath.createHolonomicTrajectory(trclib.pathdrive.TrcPath, edu.wpi.first.math.trajectory.TrajectoryConfig) gets around this by modifying the heading values to be the velocity vector directions instead of the target heading. Since the path follower only uses the ending heading as the target (it doesn't use intermediate heading values) this wrapper class is the solution. It acts identically to the Trajectory class most of the time, but when the final waypoint is being requested, the heading value is set as the target heading, not velocity direction. This is basically bound to the implementation of SwerveControllerCommand, which isn't very elegant, but it works.

  • Nested Class Summary

    Nested classes/interfaces inherited from class edu.wpi.first.math.trajectory.Trajectory

    edu.wpi.first.math.trajectory.Trajectory.State

  • Field Summary

    Fields inherited from class edu.wpi.first.math.trajectory.Trajectory

    proto

  • Constructor Summary

    Constructors
    Constructor
    Description
    FrcHolonomicTrajectory(edu.wpi.first.math.trajectory.Trajectory trajectory, double targetHeading)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    edu.wpi.first.math.trajectory.Trajectory.State
    sample(double timeSeconds)
     

    Methods inherited from class edu.wpi.first.math.trajectory.Trajectory

    concatenate, equals, getInitialPose, getStates, getTotalTimeSeconds, hashCode, relativeTo, toString, transformBy

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, wait, wait, wait

  • Constructor Details

    • FrcHolonomicTrajectory

      public FrcHolonomicTrajectory(edu.wpi.first.math.trajectory.Trajectory trajectory, double targetHeading)

  • Method Details

    • sample

      public edu.wpi.first.math.trajectory.Trajectory.State sample(double timeSeconds)
      Overrides:
      sample in class edu.wpi.first.math.trajectory.Trajectory