Package com.marswars.auto

Class ChoreoTrajectory

java.lang.Object
com.marswars.auto.ChoreoTrajectory
public class ChoreoTrajectory extends Object

  • Constructor Details

    • ChoreoTrajectory

      public ChoreoTrajectory(choreo.trajectory.Trajectory<?> trajectory, boolean is_red_alliance)

  • Method Details

    • getTrajectory

      public choreo.trajectory.Trajectory<choreo.trajectory.SwerveSample> getTrajectory()
      Throws:
      IllegalStateException - if this is a differential trajectory

    • getDifferentialTrajectory

      public choreo.trajectory.Trajectory<choreo.trajectory.DifferentialSample> getDifferentialTrajectory()
      Throws:
      IllegalStateException - if this is a swerve trajectory

    • getPoses

      public Pose2d[] getPoses()
      Poses of every sample (already alliance-flipped), for either sample type.

    • getEventTimestampMap

      public Map<String,Double> getEventTimestampMap()

    • getEventPoseMap

      public Map<String,Pose2d> getEventPoseMap()