thunder::ThunderAutoTrajectory Class Reference

Inheritance diagram for thunder::ThunderAutoTrajectory:

Public Member Functions
	ThunderAutoTrajectory (const ThunderAutoTrajectory &)=delete
ThunderAutoTrajectory &	operator= (const ThunderAutoTrajectory &)=delete
	ThunderAutoTrajectory (ThunderAutoTrajectory &&) noexcept=delete
ThunderAutoTrajectory &	operator= (ThunderAutoTrajectory &&) noexcept=delete
bool	isValid () const noexcept override
TrajectoryState	sample (units::second_t time) const noexcept override
virtual units::second_t	getDuration () const noexcept override
virtual TrajectoryState	getInitialState () const noexcept override
virtual TrajectoryState	getFinalState () const noexcept override
const std::string &	getStartAction () const noexcept
const std::string &	getEndAction () const noexcept
const std::map< units::second_t, std::string > &	getStopActions () const noexcept
const std::multimap< units::second_t, std::string > &	getActions () const noexcept
driver::ThunderAutoTrajectory *	getHandle () noexcept
const driver::ThunderAutoTrajectory *	getHandle () const noexcept
Public Member Functions inherited from thunder::Trajectory
	operator bool () const noexcept

Friends
class	ThunderAutoProject

Member Function Documentation

getActions()

const std::multimap< units::second_t, std::string > & thunder::ThunderAutoTrajectory::getActions ( ) const

noexcept

Gets the map of actions to perform at specific times during the trajectory.

These actions may continue to run while the robot is driving.

Returns

Map of times to actions.

getDuration()

units::second_t thunder::ThunderAutoTrajectory::getDuration ( ) const

overridevirtualnoexcept

Gets the duration of the trajectory.

Returns

Duration of the trajectory.

Implements thunder::Trajectory.

getEndAction()

const std::string & thunder::ThunderAutoTrajectory::getEndAction ( ) const

noexcept

Gets the end action to perform after finishing the trajectory.

Returns

Action name

getFinalState()

TrajectoryState thunder::ThunderAutoTrajectory::getFinalState ( ) const

overridevirtualnoexcept

Gets the final state of the trajectory.

Returns

Final trajectory state.

Implements thunder::Trajectory.

getInitialState()

TrajectoryState thunder::ThunderAutoTrajectory::getInitialState ( ) const

overridevirtualnoexcept

Gets the initial state of the trajectory.

Returns

Initial trajectory state.

Implements thunder::Trajectory.

getStartAction()

const std::string & thunder::ThunderAutoTrajectory::getStartAction ( ) const

noexcept

Gets the start action to perform before starting the trajectory.

Returns

Action name

getStopActions()

const std::map< units::second_t, std::string > & thunder::ThunderAutoTrajectory::getStopActions ( ) const

noexcept

Gets the map of actions to perform at times at which the robot is stopped during the trajectory.

The robot should pause driving at these times to perform the action and resume driving after the action is complete.

Returns

Map of stop times to action names.

isValid()

bool thunder::ThunderAutoTrajectory::isValid ( ) const

overridevirtualnoexcept

Implements thunder::Trajectory.

sample()

TrajectoryState thunder::ThunderAutoTrajectory::sample ( units::second_t time ) const

overridevirtualnoexcept

Samples the trajectory at the given time.

Parameters

time	Time to sample at.

Returns

Trajectory state at the given time.

Implements thunder::Trajectory.

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

• src/main/native/include/ThunderLib/Auto/ThunderAutoTrajectory.hpp
• src/main/native/cpp/Auto/ThunderAutoTrajectory.cpp