Index
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A
- angularVelocity - Variable in class com.choreo.lib.ChoreoTrajectoryState
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The angular velocity of the state in rad/s.
C
- Choreo - Class in com.choreo.lib
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Utilities to load and follow ChoreoTrajectories
- Choreo() - Constructor for class com.choreo.lib.Choreo
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Default constructor.
- ChoreoControlFunction - Interface in com.choreo.lib
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This interface exists as a type alias.
- choreoSwerveCommand(ChoreoTrajectory, Supplier<Pose2d>, ChoreoControlFunction, Consumer<ChassisSpeeds>, BooleanSupplier, Subsystem...) - Static method in class com.choreo.lib.Choreo
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Create a command to follow a Choreo path.
- choreoSwerveCommand(ChoreoTrajectory, Supplier<Pose2d>, PIDController, PIDController, PIDController, Consumer<ChassisSpeeds>, BooleanSupplier, Subsystem...) - Static method in class com.choreo.lib.Choreo
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Create a command to follow a Choreo path.
- choreoSwerveController(PIDController, PIDController, PIDController) - Static method in class com.choreo.lib.Choreo
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Creates a control function for following a ChoreoTrajectoryState.
- ChoreoTrajectory - Class in com.choreo.lib
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A trajectory loaded from Choreo.
- ChoreoTrajectory() - Constructor for class com.choreo.lib.ChoreoTrajectory
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Create an empty ChoreoTrajectory.
- ChoreoTrajectory(List<ChoreoTrajectoryState>) - Constructor for class com.choreo.lib.ChoreoTrajectory
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Constructs a new trajectory from a list of trajectory states
- ChoreoTrajectoryState - Class in com.choreo.lib
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A single robot state in a ChoreoTrajectory.
- ChoreoTrajectoryState(double, double, double, double, double, double, double, double[], double[]) - Constructor for class com.choreo.lib.ChoreoTrajectoryState
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Constructs a ChoreoTrajectoryState with the specified parameters.
- com.choreo.lib - package com.choreo.lib
F
- flipped() - Method in class com.choreo.lib.ChoreoTrajectory
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Returns this trajectory, mirrored across the field midline.
- flipped() - Method in class com.choreo.lib.ChoreoTrajectoryState
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Returns this state, mirrored across the field midline.
G
- getChassisSpeeds() - Method in class com.choreo.lib.ChoreoTrajectoryState
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Returns the field-relative chassis speeds of this state.
- getFinalPose() - Method in class com.choreo.lib.ChoreoTrajectory
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Returns the final, non-mirrored pose of the trajectory.
- getFinalState() - Method in class com.choreo.lib.ChoreoTrajectory
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Returns the last ChoreoTrajectoryState in the trajectory.
- getFlippedFinalPose() - Method in class com.choreo.lib.ChoreoTrajectory
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Returns the final, mirrored pose of the trajectory.
- getFlippedInitialPose() - Method in class com.choreo.lib.ChoreoTrajectory
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Returns the initial, mirrored pose of the trajectory.
- getInitialPose() - Method in class com.choreo.lib.ChoreoTrajectory
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Returns the initial, non-mirrored pose of the trajectory.
- getInitialState() - Method in class com.choreo.lib.ChoreoTrajectory
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Returns the first ChoreoTrajectoryState in the trajectory.
- getPose() - Method in class com.choreo.lib.ChoreoTrajectoryState
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Returns the pose at this state.
- getPoses() - Method in class com.choreo.lib.ChoreoTrajectory
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Returns the array of poses corresponding to the trajectory.
- getSamples() - Method in class com.choreo.lib.ChoreoTrajectory
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Returns the list of states for this trajectory.
- getTotalTime() - Method in class com.choreo.lib.ChoreoTrajectory
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Returns the total time of the trajectory (the timestamp of the last sample)
- getTrajectory(String) - Static method in class com.choreo.lib.Choreo
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Load a trajectory from the deploy directory.
- getTrajectoryGroup(String) - Static method in class com.choreo.lib.Choreo
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Loads the split parts of the specified trajectory.
H
- heading - Variable in class com.choreo.lib.ChoreoTrajectoryState
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The heading of the state in radians, with 0 being in the +X direction.
I
- interpolate(ChoreoTrajectoryState, double) - Method in class com.choreo.lib.ChoreoTrajectoryState
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Interpolate between this state and the provided state.
M
- moduleForcesX - Variable in class com.choreo.lib.ChoreoTrajectoryState
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The force on each swerve module in the X direction in Newtons.
- moduleForcesY - Variable in class com.choreo.lib.ChoreoTrajectoryState
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The force on each swerve module in the Y direction in Newtons Module forces appear in the following order: [FL, FR, BL, BR].
S
- sample(double) - Method in class com.choreo.lib.ChoreoTrajectory
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Return an interpolated, non-mirrored sample of the trajectory at the given timestamp.
- sample(double, boolean) - Method in class com.choreo.lib.ChoreoTrajectory
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Return an interpolated sample of the trajectory at the given timestamp.
T
- timestamp - Variable in class com.choreo.lib.ChoreoTrajectoryState
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The timestamp of this state, relative to the beginning of the trajectory.
V
- velocityX - Variable in class com.choreo.lib.ChoreoTrajectoryState
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The velocity of the state in the X direction in m/s.
- velocityY - Variable in class com.choreo.lib.ChoreoTrajectoryState
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The velocity of the state in the Y direction in m/s.
X
- x - Variable in class com.choreo.lib.ChoreoTrajectoryState
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The X position of the state in meters.
Y
- y - Variable in class com.choreo.lib.ChoreoTrajectoryState
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The Y position of the state in meters.
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