Trajectory

class wpimath.trajectory.Trajectory(*args, **kwargs)

Bases: pybind11_object

Represents a time-parameterized trajectory. The trajectory contains of various States that represent the pose, curvature, time elapsed, velocity, and acceleration at that point.

Overloaded function.

1. __init__(self: wpimath._controls._controls.trajectory.Trajectory) -> None

2. __init__(self: wpimath._controls._controls.trajectory.Trajectory, states: list[wpimath._controls._controls.trajectory.Trajectory.State]) -> None

Constructs a trajectory from a vector of states.

@throws std::invalid_argument if the vector of states is empty.

class State(t: wpimath.units.seconds = 0.0, velocity: wpimath.units.meters_per_second = 0.0, acceleration: wpimath.units.meters_per_second_squared = 0.0, pose: wpimath.geometry._geometry.Pose2d = Pose2d(Translation2d(x=0.000000, y=0.000000), Rotation2d(0.000000)), curvature: wpimath.units.radians_per_meter = 0.0)

Bases: pybind11_object

Represents one point on the trajectory.

property acceleration → wpimath.units.meters_per_second_squared

The acceleration at that point of the trajectory.

property acceleration_fps

property curvature → wpimath.units.radians_per_meter

interpolate(endValue: wpimath._controls._controls.trajectory.Trajectory.State, i: SupportsFloat) → wpimath._controls._controls.trajectory.Trajectory.State

Interpolates between two States.

Parameters:

• endValue – The end value for the interpolation.

• i – The interpolant (fraction).

Returns:

The interpolated state.

property pose → wpimath.geometry._geometry.Pose2d

The pose at that point of the trajectory.

property t → wpimath.units.seconds

The time elapsed since the beginning of the trajectory.

property velocity → wpimath.units.meters_per_second

The speed at that point of the trajectory.

property velocity_fps

initialPose() → wpimath.geometry._geometry.Pose2d

Returns the initial pose of the trajectory.

Returns:

The initial pose of the trajectory.

relativeTo(pose: wpimath.geometry._geometry.Pose2d) → wpimath._controls._controls.trajectory.Trajectory

Transforms all poses in the trajectory so that they are relative to the given pose. This is useful for converting a field-relative trajectory into a robot-relative trajectory.

Parameters:

pose – The pose that is the origin of the coordinate frame that the current trajectory will be transformed into.

Returns:

The transformed trajectory.

sample(t: wpimath.units.seconds) → wpimath._controls._controls.trajectory.Trajectory.State

Sample the trajectory at a point in time.

Parameters:

t – The point in time since the beginning of the trajectory to sample.

Returns:

The state at that point in time. @throws std::runtime_error if the trajectory has no states.

states() → list[wpimath._controls._controls.trajectory.Trajectory.State]

Return the states of the trajectory.

Returns:

The states of the trajectory.

totalTime() → wpimath.units.seconds

Returns the overall duration of the trajectory.

Returns:

The duration of the trajectory.

transformBy(transform: wpimath.geometry._geometry.Transform2d) → wpimath._controls._controls.trajectory.Trajectory

Transforms all poses in the trajectory by the given transform. This is useful for converting a robot-relative trajectory into a field-relative trajectory. This works with respect to the first pose in the trajectory.

Parameters:

transform – The transform to transform the trajectory by.

Returns:

The transformed trajectory.