TrajectoryConfigBuilder Class Reference

#include <trajectory_config.h>

Description

Fluent Builder API for constructing TrajectoryConfig instances cleanly.

Public Member Functions
	TrajectoryConfigBuilder (units::Velocity max_velocity, units::Acceleration max_acceleration)
	Creates a builder with max velocity and max acceleration limits.
TrajectoryConfigBuilder &	with_start_velocity (units::Velocity v)
	Configures initial trajectory velocity.
TrajectoryConfigBuilder &	with_end_velocity (units::Velocity v)
	Configures final trajectory velocity.
TrajectoryConfigBuilder &	with_reversed (bool reversed=true)
	Configures reverse driving flag.
TrajectoryConfigBuilder &	with_sample_ds (units::Length ds)
	Configures spatial spline discretization step size.
TrajectoryConfigBuilder &	with_track_width (units::Length track_width, units::Velocity max_wheel_speed, units::Acceleration max_wheel_acceleration)
	Configures drivetrain track width kinematics constraint with explicit limits.
TrajectoryConfigBuilder &	with_track_width (units::Length track_width, units::Velocity max_wheel_speed)
	Configures drivetrain track width kinematics constraint with explicit wheel speed.
TrajectoryConfigBuilder &	with_track_width (units::Length track_width)
	Configures drivetrain track width kinematics constraint.
TrajectoryConfigBuilder &	with_kinematics (const TankKinematics &kinematics, units::Velocity max_wheel_speed, units::Acceleration max_wheel_acceleration)
	Configures drivetrain kinematics constraint using TankKinematics and explicit limits.
TrajectoryConfigBuilder &	with_kinematics (const TankKinematics &kinematics, units::Velocity max_wheel_speed)
	Configures drivetrain kinematics constraint using TankKinematics and explicit wheel speed.
TrajectoryConfigBuilder &	with_kinematics (const TankKinematics &kinematics)
	Configures drivetrain kinematics constraint using TankKinematics and default limits.
TrajectoryConfigBuilder &	with_spline_order (SplinePath::Order order)
	Configures spline order.
TrajectoryConfigBuilder &	with_error_handler (std::function< void(const char *)> handler)
	Configures custom error handler callback.
template<typename Constraint>
TrajectoryConfigBuilder &	with_constraint (Constraint &&constraint)
	Adds a custom physical trajectory constraint.
TrajectoryConfigBuilder &	with_event (const std::string &name, units::Length distance)
	Adds a distance-triggered event to the trajectory.
TrajectoryConfig	build ()
	Builds and returns constructed TrajectoryConfig instance.

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

• core/math/trajectory/trajectory_config.h