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.

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

Constructs a trajectory from a vector of states.

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

Bases: pybind11_object

Represents one point on the trajectory.

property acceleration

property acceleration_fps

property curvature

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

property t

property velocity

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: 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.

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

Return the states of the trajectory.

Returns:: The states of the trajectory.

totalTime() → 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.