Package choreo

Class Choreo.TrajectoryCache

java.lang.Object

choreo.Choreo.TrajectoryCache

Enclosing class:

Choreo

public static class Choreo.TrajectoryCache
extends Object

A utility for caching loaded trajectories. This allows for loading trajectories only once, and then reusing them.

Constructor Summary

Constructors

Constructor	Description
TrajectoryCache()	Creates a new TrajectoryCache with a normal HashMap as the cache.
TrajectoryCache(Map<String,Trajectory<?>> cache)	Creates a new TrajectoryCache with a custom cache.

Method Summary

Modifier and Type	Method	Description
void	clear()	Clear the cache.
Optional<? extends Trajectory<?>>	loadTrajectory(String trajectoryName)	Load a trajectory from the deploy directory.
Optional<? extends Trajectory<?>>	loadTrajectory(String trajectoryName, int splitIndex)	Load a section of a split trajectory from the deploy directory.

Methods inherited from class java.lang.Object

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

Constructor Details

TrajectoryCache

public TrajectoryCache()

Creates a new TrajectoryCache with a normal HashMap as the cache.

TrajectoryCache

public TrajectoryCache(Map<String,Trajectory<?>> cache)

Creates a new TrajectoryCache with a custom cache.

this could be useful if you want to use a concurrent map or a map with a maximum size.

Parameters:

cache - The cache to use.

Method Details

loadTrajectory

public Optional<? extends Trajectory<?>> loadTrajectory(String trajectoryName)

Load a trajectory from the deploy directory. Choreolib expects .traj files to be placed in src/main/deploy/choreo/[trajectoryName].traj.

This method will cache the loaded trajectory and reused it if it is requested again.

Parameters:

trajectoryName - the path name in Choreo, which matches the file name in the deploy directory, file extension is optional.

Returns:

the loaded trajectory, or `Optional.empty()` if the trajectory could not be loaded.

See Also:

• Choreo.loadTrajectory(String)

loadTrajectory

public Optional<? extends Trajectory<?>> loadTrajectory(String trajectoryName,
 int splitIndex)

Load a section of a split trajectory from the deploy directory. Choreolib expects .traj files to be placed in src/main/deploy/choreo/[trajectoryName].traj.

This method will cache the loaded trajectory and reused it if it is requested again. The trajectory that is split off of will also be cached.

Parameters:

trajectoryName - the path name in Choreo, which matches the file name in the deploy directory, file extension is optional.

splitIndex - the index of the split trajectory to load

Returns:

the loaded trajectory, or `Optional.empty()` if the trajectory could not be loaded.

See Also:

• Choreo.loadTrajectory(String)

clear

public void clear()

Clear the cache.