#include <choreo/trajectory/Trajectory.h>

Public Member Functions
	Trajectory ()=default

	Trajectory (std::string_view name, std::vector< SampleType > samples, std::vector< int > splits, std::vector< EventMarker > events)

std::optional< SampleType >	GetInitialSample (bool mirrorForRedAlliance=false) const

std::optional< SampleType >	GetFinalSample (bool mirrorForRedAlliance=false) const

template<int Year = util::kDefaultYear>
std::optional< SampleType >	SampleAt (units::second_t timestamp, bool mirrorForRedAlliance=false) const

template<int Year = util::kDefaultYear>
std::optional< frc::Pose2d >	GetInitialPose (bool mirrorForRedAlliance=false) const

template<int Year = util::kDefaultYear>
std::optional< frc::Pose2d >	GetFinalPose (bool mirrorForRedAlliance=false) const

units::second_t	GetTotalTime () const

std::vector< frc::Pose2d >	GetPoses () const

template<int Year = util::kDefaultYear>
Trajectory< SampleType >	Flipped () const

std::vector< EventMarker >	GetEvents (std::string_view eventName) const

std::optional< Trajectory< SampleType > >	GetSplit (int splitIndex) const

bool	operator== (const Trajectory< SampleType > &other) const

Public Attributes
std::string	name
	The name of the trajectory.

std::vector< SampleType >	samples
	The vector of samples in the trajectory.

std::vector< int >	splits
	The waypoints indexes where the trajectory is split.

std::vector< EventMarker >	events
	A vector of all of the events in the trajectory.

Detailed Description

template<TrajectorySample SampleType>
class choreo::Trajectory< SampleType >

A trajectory loaded from Choreo.

Parameters

<SampleType> DifferentialSample or SwerveSample.

Constructor & Destructor Documentation

◆ Trajectory() [1/2]

template<TrajectorySample SampleType>

choreo::Trajectory< SampleType >::Trajectory ( )

default

Constructs a Trajectory with defaults

◆ Trajectory() [2/2]

template<TrajectorySample SampleType>

choreo::Trajectory< SampleType >::Trajectory	(	std::string_view	name,
		std::vector< SampleType >	samples,
		std::vector< int >	splits,
		std::vector< EventMarker >	events
	)

inline

Constructs a Trajectory with the specified parameters.

Parameters

name	The name of the trajectory.
samples	The samples of the trajectory.
splits	The indices of the splits in the trajectory.
events	The events in the trajectory.

Member Function Documentation

◆ Flipped()

template<TrajectorySample SampleType>

template<int Year = util::kDefaultYear>

Trajectory< SampleType > choreo::Trajectory< SampleType >::Flipped ( ) const

inline

Returns this trajectory, mirrored across the field midline.

Template Parameters

Year	The field year. Defaults to the current year.

Returns: this trajectory, mirrored across the field midline.

◆ GetEvents()

template<TrajectorySample SampleType>

std::vector< EventMarker > choreo::Trajectory< SampleType >::GetEvents ( std::string_view eventName ) const

inline

Returns a vector of all events with the given name in the trajectory.

Parameters

eventName The name of the event.

Returns: A vector of all events with the given name in the trajectory, if no events are found, an empty vector is returned.

◆ GetFinalPose()

template<TrajectorySample SampleType>

template<int Year = util::kDefaultYear>

std::optional< frc::Pose2d > choreo::Trajectory< SampleType >::GetFinalPose ( bool mirrorForRedAlliance = false ) const

inline

Returns the last Pose in the trajectory.

Will return an empty optional if the trajectory is empty

Template Parameters

Year	The field year. Defaults to the current year.

Parameters

mirrorForRedAlliance whether or not to return the Pose mirrored.

Returns: The last Pose in the trajectory.

◆ GetFinalSample()

template<TrajectorySample SampleType>

std::optional< SampleType > choreo::Trajectory< SampleType >::GetFinalSample ( bool mirrorForRedAlliance = false ) const

inline

Returns the last SampleType in the trajectory.

Will return an empty optional if the trajectory is empty

Parameters

mirrorForRedAlliance whether or not to return the sample as mirrored across the field

Returns: The last sample in the trajectory.

◆ GetInitialPose()

template<TrajectorySample SampleType>

template<int Year = util::kDefaultYear>

std::optional< frc::Pose2d > choreo::Trajectory< SampleType >::GetInitialPose ( bool mirrorForRedAlliance = false ) const

inline

Returns the first Pose in the trajectory.

Will return an empty optional if the trajectory is empty

Template Parameters

Year	The field year. Defaults to the current year.

Parameters

mirrorForRedAlliance whether or not to return the Pose mirrored.

Returns: The first Pose in the trajectory.

◆ GetInitialSample()

template<TrajectorySample SampleType>

std::optional< SampleType > choreo::Trajectory< SampleType >::GetInitialSample ( bool mirrorForRedAlliance = false ) const

inline

Returns the first SampleType in the trajectory.

Will return an empty optional if the trajectory is empty

Parameters

mirrorForRedAlliance whether or not to return the sample as mirrored across the field

Returns: The first sample in the trajectory.

◆ GetPoses()

template<TrajectorySample SampleType>

std::vector< frc::Pose2d > choreo::Trajectory< SampleType >::GetPoses ( ) const

inline

Returns the vector of poses corresponding to the trajectory.

Returns: the vector of poses corresponding to the trajectory.

◆ GetSplit()

template<TrajectorySample SampleType>

std::optional< Trajectory< SampleType > > choreo::Trajectory< SampleType >::GetSplit ( int splitIndex ) const

inline

Returns a choreo trajectory that represents the split of the trajectory at the given index.

Parameters

splitIndex the index of the split trajectory to return.

Returns: a choreo trajectory that represents the split of the trajectory at the given index.

◆ GetTotalTime()

template<TrajectorySample SampleType>

units::second_t choreo::Trajectory< SampleType >::GetTotalTime ( ) const

inline

The total time the trajectory will take to follow

Returns: The total time the trajectory will take to follow, if empty will return 0 seconds.

◆ operator==()

template<TrajectorySample SampleType>

bool choreo::Trajectory< SampleType >::operator== ( const Trajectory< SampleType > & other ) const

inline

Trajectory equality operator.

Parameters

other The other trajectory.

Returns: True for equality.

◆ SampleAt()

template<TrajectorySample SampleType>

template<int Year = util::kDefaultYear>

std::optional< SampleType > choreo::Trajectory< SampleType >::SampleAt	(	units::second_t	timestamp,
		bool	mirrorForRedAlliance = `false`
	)		const

inline

Return an interpolated sample of the trajectory at the given timestamp.

This function will return an empty optional if the trajectory is empty.

Template Parameters

Year	The field year. Defaults to the current year.

Parameters

timestamp	The timestamp of this sample relative to the beginning of the trajectory.
mirrorForRedAlliance	whether or not to return the sample mirrored.

Returns: The SampleType at the given time.

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

src/main/native/include/choreo/trajectory/Trajectory.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Trajectory() [1/2]

◆ Trajectory() [2/2]

Member Function Documentation

◆ Flipped()

◆ GetEvents()

◆ GetFinalPose()

◆ GetFinalSample()

◆ GetInitialPose()

◆ GetInitialSample()

◆ GetPoses()

◆ GetSplit()

◆ GetTotalTime()

◆ operator==()

◆ SampleAt()