Package com.thunder.lib.trajectory

Interface ThunderTrajectory

All Known Implementing Classes:
ThunderAutoTrajectory
public interface ThunderTrajectory
Interface representing a trajectory for a robot to follow.

  • Method Details

    • isValid

      boolean isValid()
      Checks if the trajectory is valid.
      Returns:
      True or false.

    • sample

      ThunderTrajectoryState sample(double timeSeconds)
      Samples the trajectory at a specified time.
      Parameters:
      timeSeconds - The time at which to sample the trajectory.
      Returns:
      The state of the robot at the specified time.

    • getDurationSeconds

      double getDurationSeconds()
      Returns the duration of the trajectory.
      Returns:
      The duration.

    • getInitialState

      ThunderTrajectoryState getInitialState()
      Returns the initial state of the robot.
      Returns:
      The initial state.

    • getFinalState

      ThunderTrajectoryState getFinalState()
      Returns the final state of the robot.
      Returns:
      The final state.