PathPlannerTrajectory

class pathplannerlib.PathPlannerTrajectory

Bases: pybind11_object

class EventMarker

Bases: pybind11_object

property names

property position

property time

class PathPlannerState

Bases: pybind11_object

property acceleration

property angularVelocity

asWPILibState() → wpimath._controls._controls.trajectory.Trajectory.State

Get this state as a WPILib trajectory state

Returns:

The WPILib state

property holonomicAngularVelocity

property holonomicRotation

property pose

property time

property velocity

class StopEvent(*args, **kwargs)

Bases: pybind11_object

Overloaded function.

1. __init__(self: pathplannerlib._pathplannerlib.PathPlannerTrajectory.StopEvent, names: List[str], executionBehavior: pathplannerlib._pathplannerlib.PathPlannerTrajectory.StopEvent.ExecutionBehavior, waitBehavior: pathplannerlib._pathplannerlib.PathPlannerTrajectory.StopEvent.WaitBehavior, waitTime: seconds) -> None

2. __init__(self: pathplannerlib._pathplannerlib.PathPlannerTrajectory.StopEvent) -> None

class ExecutionBehavior(value: int)

Bases: pybind11_object

Members:

PARALLEL

SEQUENTIAL

PARALLEL_DEADLINE

PARALLEL = <ExecutionBehavior.PARALLEL: 0>

PARALLEL_DEADLINE = <ExecutionBehavior.PARALLEL_DEADLINE: 2>

SEQUENTIAL = <ExecutionBehavior.SEQUENTIAL: 1>

property name

property value

class WaitBehavior(value: int)

Bases: pybind11_object

Members:

NONE

BEFORE

AFTER

DEADLINE

MINIMUM

AFTER = <WaitBehavior.AFTER: 2>

BEFORE = <WaitBehavior.BEFORE: 1>

DEADLINE = <WaitBehavior.DEADLINE: 3>

MINIMUM = <WaitBehavior.MINIMUM: 4>

NONE = <WaitBehavior.NONE: 0>

property name

property value

property executionBehavior

property names

property waitBehavior

property waitTime

asWPILibTrajectory() → wpimath._controls._controls.trajectory.Trajectory

Convert this path to a WPILib compatible trajectory

Returns:

The path as a WPILib trajectory

property fromGUI

getEndState() → pathplannerlib._pathplannerlib.PathPlannerTrajectory.PathPlannerState

Get the end state of the path

Returns:

Reference to the last state in the path

getEndStopEvent() → pathplannerlib._pathplannerlib.PathPlannerTrajectory.StopEvent

Get the “stop event” for the end of the path

Returns:

The end stop event

getInitialHolonomicPose() → wpimath.geometry._geometry.Pose2d

Get the inital pose of a holonomic drive robot in the path

Returns:

The initial pose

getInitialPose() → wpimath.geometry._geometry.Pose2d

Get the inital pose of a differential drive robot in the path

Returns:

The initial pose

getInitialState() → pathplannerlib._pathplannerlib.PathPlannerTrajectory.PathPlannerState

Get the initial state of the path

Returns:

Reference to the first state of the path

getMarkers() → List[pathplannerlib._pathplannerlib.PathPlannerTrajectory.EventMarker]

Get all of the markers in the path

Returns:

Reference to a vector of all markers

getStartStopEvent() → pathplannerlib._pathplannerlib.PathPlannerTrajectory.StopEvent

Get the “stop event” for the beginning of the path

Returns:

The start stop event

getState(i: int) → pathplannerlib._pathplannerlib.PathPlannerTrajectory.PathPlannerState

Get a state in the path based on its index. In most cases, using sample() is a better method.

Parameters:

i – The index of the state

Returns:

Reference to the state at the given index

getStates() → List[pathplannerlib._pathplannerlib.PathPlannerTrajectory.PathPlannerState]

Get all of the states in the path

Returns:

Reference to a vector of all states

getTotalTime() → seconds

Get the total runtime of the path

Returns:

The path runtime

numStates() → int

Get the total number of states in the path

Returns:

The number of states

sample(time: seconds) → pathplannerlib._pathplannerlib.PathPlannerTrajectory.PathPlannerState

Sample the path at a point in time

Parameters:

time – The time to sample

Returns:

The state at the given point in time

static transformStateForAlliance(state: pathplannerlib._pathplannerlib.PathPlannerTrajectory.PathPlannerState, alliance: wpilib._wpilib.DriverStation.Alliance) → pathplannerlib._pathplannerlib.PathPlannerTrajectory.PathPlannerState

static transformTrajectoryForAlliance(trajectory: pathplannerlib._pathplannerlib.PathPlannerTrajectory, alliance: wpilib._wpilib.DriverStation.Alliance) → pathplannerlib._pathplannerlib.PathPlannerTrajectory