Package com.thunder.lib.trajectory

Class ThunderTrajectoryState

java.lang.Object

com.thunder.lib.trajectory.ThunderTrajectoryState

public class ThunderTrajectoryState
extends Object

Class representing a state in a trajectory for a robot.

Constructor Summary

Constructors

Constructor	Description
ThunderTrajectoryState()	Default constructor for ThunderTrajectoryState.
ThunderTrajectoryState(double timeSeconds, Pose2d pose, ChassisSpeeds chassisSpeeds, double linearVelocityMetersPerSecond, Rotation2d heading)	Parameterized constructor for ThunderTrajectoryState.

Method Summary

Modifier and Type	Method	Description
ChassisSpeeds	getChassisSpeeds()	Get the robot chassis speeds at this state in the trajectory.
Rotation2d	getHeading()	Get the robot heading at this state in the trajectory.
double	getLinearVelocityMetersPerSecond()	Get the robot linear velocity in meters per second at this state in the trajectory.
Pose2d	getPose()	Get the robot pose at this state in the trajectory.
double	getTimeSeconds()	Get the time in seconds of this state in the trajectory.
void	setChassisSpeeds(ChassisSpeeds chassisSpeeds)	Set the robot chassis speeds at this state in the trajectory.
void	setHeading(Rotation2d heading)	Set the robot heading at this state in the trajectory.
void	setLinearVelocityMetersPerSecond(double linearVelocityMetersPerSecond)	Set the robot linear velocity in meters per second at this state in the trajectory.
void	setPose(Pose2d pose)	Set the robot pose at this state in the trajectory.
void	setTimeSeconds(double timeSeconds)	Set the time in seconds of this state in the trajectory.

Methods inherited from class java.lang.Object

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

Constructor Details

ThunderTrajectoryState

public ThunderTrajectoryState()

Default constructor for ThunderTrajectoryState.

ThunderTrajectoryState

public ThunderTrajectoryState(double timeSeconds,
 Pose2d pose,
 ChassisSpeeds chassisSpeeds,
 double linearVelocityMetersPerSecond,
 Rotation2d heading)

Parameterized constructor for ThunderTrajectoryState.

Parameters:

timeSeconds - Time in seconds

pose - Robot pose

chassisSpeeds - Robot chassis speeds

linearVelocityMetersPerSecond - Robot linear velocity in m/s

heading - Robot heading

Method Details

getTimeSeconds

public double getTimeSeconds()

Get the time in seconds of this state in the trajectory.

Returns:

Time in seconds

setTimeSeconds

public void setTimeSeconds(double timeSeconds)

Set the time in seconds of this state in the trajectory.

Parameters:

timeSeconds - Time in seconds

getPose

public Pose2d getPose()

Get the robot pose at this state in the trajectory.

Returns:

Robot pose

setPose

public void setPose(Pose2d pose)

Set the robot pose at this state in the trajectory.

Parameters:

pose - Robot pose

getChassisSpeeds

public ChassisSpeeds getChassisSpeeds()

Get the robot chassis speeds at this state in the trajectory.

Returns:

Robot chassis speeds

setChassisSpeeds

public void setChassisSpeeds(ChassisSpeeds chassisSpeeds)

Set the robot chassis speeds at this state in the trajectory.

Parameters:

chassisSpeeds - Robot chassis speeds

getLinearVelocityMetersPerSecond

public double getLinearVelocityMetersPerSecond()

Get the robot linear velocity in meters per second at this state in the trajectory.

Returns:

Robot linear velocity in m/s

setLinearVelocityMetersPerSecond

public void setLinearVelocityMetersPerSecond(double linearVelocityMetersPerSecond)

Set the robot linear velocity in meters per second at this state in the trajectory.

Parameters:

linearVelocityMetersPerSecond - Robot linear velocity in m/s

getHeading

public Rotation2d getHeading()

Get the robot heading at this state in the trajectory.

Returns:

Robot heading

setHeading

public void setHeading(Rotation2d heading)

Set the robot heading at this state in the trajectory.

Parameters:

heading - Robot heading