Package choreo

Class Choreo

java.lang.Object

choreo.Choreo

public final class Choreo
extends Object

Utilities to load and follow Choreo Trajectories

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Choreo.TrajectoryCache	A utility for caching loaded trajectories.
static interface	Choreo.TrajectoryLogger<ST extends TrajectorySample<ST>>	This interface exists as a type alias.

Method Summary

Modifier and Type	Method	Description
static String[]	availableTrajectories()	Fetches the names of all available trajectories in the deploy directory.
static <SampleType extends TrajectorySample<SampleType>> Optional<Trajectory<SampleType>>	loadTrajectory(String trajectoryName)	Load a trajectory from the deploy directory.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

loadTrajectory

public static <SampleType extends TrajectorySample<SampleType>>
Optional<Trajectory<SampleType>> loadTrajectory(String trajectoryName)

Load a trajectory from the deploy directory. Choreolib expects .traj files to be placed in src/main/deploy/choreo/[trajectoryName].traj.

Type Parameters:

SampleType - The type of samples in the trajectory.

Parameters:

trajectoryName - The path name in Choreo, which matches the file name in the deploy directory, file extension is optional.

Returns:

The loaded trajectory, or `Optional.empty()` if the trajectory could not be loaded.

availableTrajectories

public static String[] availableTrajectories()

Fetches the names of all available trajectories in the deploy directory.

Returns:

A list of all available trajectory names.