TrajectoryParameterizer

class wpimath.TrajectoryParameterizer

Bases: pybind11_object

Class used to parameterize a spline trajectory by time.

static time_parameterize_trajectory(points: collections.abc.Sequence[tuple[wpimath._wpimath.Pose2d, wpimath.units.radians_per_meter]], constraints: collections.abc.Sequence[wpimath._wpimath.TrajectoryConstraint], start_velocity: wpimath.units.meters_per_second, end_velocity: wpimath.units.meters_per_second, max_velocity: wpimath.units.meters_per_second, max_acceleration: wpimath.units.meters_per_second_squared, reversed: bool) → wpimath._wpimath.DrivetrainSplineTrajectory

Parameterize the spline trajectory by time. This is where the velocity profile is generated.

The derivation of the algorithm used can be found here: <http://www2.informatik.uni-freiburg.de/~lau/students/Sprunk2008.pdf>

Parameters:

  • points – Reference to the spline points.

  • constraints – A vector of various velocity and acceleration constraints.

  • start_velocity – The start velocity for the trajectory.

  • end_velocity – The end velocity for the trajectory.

  • max_velocity – The max velocity for the trajectory.

  • max_acceleration – The max acceleration for the trajectory.

  • reversed – Whether the robot should move backwards. Note that the robot will still move from a -> b -> … -> z as defined in the waypoints.

Returns:

The spline trajectory.