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What Changes during Generation?

Last updated 1/3/2026

This document describes what changes and doesn't change within the generation of a trajectory file.

Input

pre.traj and pre.chor * Presumed to already be schema-updated to the current version

Output

post.traj * Some fields present in the Rust representation of the trajectory schema are internal and marked to be skipped in serialization. Those are not considered part of the output.

pre.chor is unchanged * Schema updates might cause the file contents to be replaced with the updated version

After Successful Trajectory Generation

  • name is unchanged
  • version is unchanged
  • params is unchanged
  • snapshot corresponds to the params field
  • EXCEPT for the waypoint control intervals being different/updated if and only if override_intervals is false on a given waypoint
  • snapshot.waypoints[n].heading matches params.waypoints[n].heading.val, not any adjusted value.
  • trajectory is fully dependent on the generator result, the snapshot waypoints' .intervals and .split fields, the project type from the project file, and the robot config from the project file.
  • trajectory.type is either "Swerve" or "Differential"
  • trajectory.waypoints is a list of waypoint timestamps with the same length as snapshot.waypoints. Its first element is 0 (seconds).
  • trajectory.samples is the list of samples
  • trajectory.splits is the sample index of every waypoint that starts a split segment. The end waypoint is not included, even if marked split. The start waypoint is always included, even if not marked split. Thus trajectory.splits always includes sample index 0 as its first element, and may have other elements.

  • trajectory.config is a snapshot of the robot config.

  • events is unchanged except that the marker target timestamps are updated as follows for each marker marker:

  • If marker.from.target (an index of snapshot.waypoints) is not None/undefined and is in bounds, marker.from.target_timestamp = trajectory.waypoints[marker.from.target]