choreo::TrajectorySample Concept Reference

A concept representing a single robot sample in a Trajectory. More...

#include <choreo/trajectory/TrajectorySample.h>

Concept definition

template<typename T>
concept choreo::TrajectorySample = 
    EqualityComparable<T> &&
    requires(T t, units::second_t time, T tother, int year) {
      { t.GetTimestamp() } -> std::same_as<units::second_t>;
      { t.GetPose() } -> std::same_as<frc::Pose2d>;
      { t.GetChassisSpeeds() } -> std::same_as<frc::ChassisSpeeds>;
      { t.OffsetBy(time) } -> std::same_as<T>;
      { t.Interpolate(tother, time) } -> std::same_as<T>;
      
      
      { t.template Flipped<2022>() } -> std::same_as<T>;
      { t.template Flipped<2023>() } -> std::same_as<T>;
      { t.template Flipped<2024>() } -> std::same_as<T>;
    }

Detailed Description

A concept representing a single robot sample in a Trajectory.