Package choreo.trajectory

Interface TrajectorySample<Self extends TrajectorySample<Self>>

Type Parameters:
Self - Derived sample type.
All Superinterfaces:
Interpolatable<Self>, StructSerializable, WPISerializable
All Known Implementing Classes:
DifferentialSample, SwerveSample
public interface TrajectorySample<Self extends TrajectorySample<Self>> extends Interpolatable<Self>, StructSerializable
The generic interface for a sample in a trajectory.

  • Method Summary

    Modifier and Type
    Method
    Description
    Self
    flipped()
    Returns this sample, mirrored across the field midline.
    ChassisSpeeds
    getChassisSpeeds()
    Returns the field-relative chassis speeds of this sample.
    Pose2d
    getPose()
    Returns the pose at this sample.
    double
    getTimestamp()
    Returns the timestamp of this sample.
    Self[]
    makeArray(int length)
    For internal use only.
    Self
    offsetBy(double timestampOffset)
    Returns this sample, offset by the given timestamp.

    Methods inherited from interface edu.wpi.first.math.interpolation.Interpolatable

    interpolate

  • Method Details

    • getTimestamp

      double getTimestamp()
      Returns the timestamp of this sample.
      Returns:
      the timestamp of this sample.

    • getPose

      Pose2d getPose()
      Returns the pose at this sample.
      Returns:
      the pose at this sample.

    • getChassisSpeeds

      ChassisSpeeds getChassisSpeeds()
      Returns the field-relative chassis speeds of this sample.
      Returns:
      the field-relative chassis speeds of this sample.

    • flipped

      Self flipped()
      Returns this sample, mirrored across the field midline.
      Returns:
      this sample, mirrored across the field midline.

    • offsetBy

      Self offsetBy(double timestampOffset)
      Returns this sample, offset by the given timestamp.
      Parameters:
      timestampOffset - the offset to apply to the timestamp.
      Returns:
      this sample, offset by the given timestamp.

    • makeArray

      Self[] makeArray(int length)
      For internal use only.
      Parameters:
      length - the length of the array to create.
      Returns:
      the created array.