Trajectory Class Reference

#include <trajectory.h>

Description

Represents a time-parameterized 2D motion trajectory.

Stores discrete State samples (time, velocity, acceleration, pose, curvature) along a parameterized path.

Classes
struct	State
	Represents a single discrete state sample along a trajectory. More...

Public Member Functions
	Trajectory ()=default
	Default constructor.
	Trajectory (std::vector< State > states)
	Constructs a Trajectory from a vector of State samples.
bool	empty () const
units::Time	total_time () const
const std::vector< State > &	states () const
const std::vector< TrajectoryEvent > &	events () const
void	set_events (std::vector< TrajectoryEvent > events)
	Attaches a vector of time-parameterized events to the trajectory.
units::Time	time_from_distance (units::Length s) const
	Interpolates the time at which a given arc distance is reached.
State	sample (units::Time t) const
	Samples trajectory state at timestamp t using binary search interpolation.
Trajectory	relative_to (const Pose2d &pose) const
	Expresses all poses in the trajectory relative to a reference pose.
Trajectory	mirror (const Pose2d &line_pose) const
	Mirrors the trajectory across the line represented by a pose.
Trajectory	rotate_center (Translation2d center=Translation2d(3_tiles, 3_tiles)) const
	Rotates the trajectory 180 degrees around a center point (Point reflection).
Trajectory	reverse () const
	Returns a time-reversed version of this trajectory (traces the path from end to start).
Trajectory	operator+ (const Trajectory &other) const
	Concatenates two trajectories end-to-end.
Pose2d	initial_pose () const
bool	operator== (const Trajectory &other) const
	Checks equality between two trajectories.

Constructor & Destructor Documentation

Trajectory()

Trajectory::Trajectory ( std::vector< State > states )

inlineexplicit

Constructs a Trajectory from a vector of State samples.

Parameters

states

Vector of time-parameterized states.

Member Function Documentation

empty()

bool Trajectory::empty ( ) const

inline

Returns

True if the trajectory contains no state samples.

events()

const std::vector< TrajectoryEvent > & Trajectory::events ( ) const

inline

Returns

Vector of events attached to this trajectory.

initial_pose()

Pose2d Trajectory::initial_pose ( ) const

inline

Returns

Initial pose at t = 0s.

mirror()

Trajectory Trajectory::mirror ( const Pose2d & line_pose ) const

inline

Mirrors the trajectory across the line represented by a pose.

The pose translation is any point on the mirror line, and the pose rotation is the direction of the line.

Parameters

line_pose

A point and direction defining the mirror line.

Returns

Mirrored Trajectory.

operator+()

Trajectory Trajectory::operator+ ( const Trajectory & other ) const

inline

Concatenates two trajectories end-to-end.

Parameters

other

Secondary trajectory to append.

Returns

Combined Trajectory.

relative_to()

Trajectory Trajectory::relative_to ( const Pose2d & pose ) const

inline

Expresses all poses in the trajectory relative to a reference pose.

Parameters

pose	Reference origin pose.

Returns

Relative Trajectory.

reverse()

Trajectory Trajectory::reverse ( ) const

inline

Returns a time-reversed version of this trajectory (traces the path from end to start).

Returns

Reversed Trajectory.

rotate_center()

Trajectory Trajectory::rotate_center ( Translation2d center = Translation2d(3_tiles, 3_tiles) ) const

inline

Rotates the trajectory 180 degrees around a center point (Point reflection).

Parameters

center

The center point (default 3 tiles from each field edge).

Returns

Rotated Trajectory.

sample()

State Trajectory::sample ( units::Time t ) const

inline

Samples trajectory state at timestamp t using binary search interpolation.

Parameters

t	Target timestamp.

Returns

Interpolated State struct.

states()

const std::vector< State > & Trajectory::states ( ) const

inline

Returns

Reference to the internal vector of State samples.

time_from_distance()

units::Time Trajectory::time_from_distance ( units::Length s ) const

inline

Interpolates the time at which a given arc distance is reached.

Parameters

s	Arc distance along trajectory.

Returns

Interpolated time.

total_time()

units::Time Trajectory::total_time ( ) const

inline

Returns

Total duration of the trajectory.

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The documentation for this class was generated from the following file:

• core/math/trajectory/trajectory.h