TrajectoryGenerator
- class wpimath.trajectory.TrajectoryGenerator
Bases:
pybind11_object
Helper class used to generate trajectories with various constraints.
- static generateTrajectory(*args, **kwargs)
Overloaded function.
generateTrajectory(initial: wpimath.spline._spline.Spline3.ControlVector, interiorWaypoints: List[wpimath.geometry._geometry.Translation2d], end: wpimath.spline._spline.Spline3.ControlVector, config: wpimath._controls._controls.trajectory.TrajectoryConfig) -> wpimath._controls._controls.trajectory.Trajectory
Generates a trajectory from the given control vectors and config. This method uses clamped cubic splines – a method in which the exterior control vectors and interior waypoints are provided. The headings are automatically determined at the interior points to ensure continuous curvature.
- Parameters:
initial – The initial control vector.
interiorWaypoints – The interior waypoints.
end – The ending control vector.
config – The configuration for the trajectory.
- Returns:
The generated trajectory.
generateTrajectory(start: wpimath.geometry._geometry.Pose2d, interiorWaypoints: List[wpimath.geometry._geometry.Translation2d], end: wpimath.geometry._geometry.Pose2d, config: wpimath._controls._controls.trajectory.TrajectoryConfig) -> wpimath._controls._controls.trajectory.Trajectory
Generates a trajectory from the given waypoints and config. This method uses clamped cubic splines – a method in which the initial pose, final pose, and interior waypoints are provided. The headings are automatically determined at the interior points to ensure continuous curvature.
- Parameters:
start – The starting pose.
interiorWaypoints – The interior waypoints.
end – The ending pose.
config – The configuration for the trajectory.
- Returns:
The generated trajectory.
generateTrajectory(controlVectors: List[wpimath.spline._spline.Spline5.ControlVector], config: wpimath._controls._controls.trajectory.TrajectoryConfig) -> wpimath._controls._controls.trajectory.Trajectory
Generates a trajectory from the given quintic control vectors and config. This method uses quintic hermite splines – therefore, all points must be represented by control vectors. Continuous curvature is guaranteed in this method.
- Parameters:
controlVectors – List of quintic control vectors.
config – The configuration for the trajectory.
- Returns:
The generated trajectory.
generateTrajectory(waypoints: List[wpimath.geometry._geometry.Pose2d], config: wpimath._controls._controls.trajectory.TrajectoryConfig) -> wpimath._controls._controls.trajectory.Trajectory
Generates a trajectory from the given waypoints and config. This method uses quintic hermite splines – therefore, all points must be represented by Pose2d objects. Continuous curvature is guaranteed in this method.
- Parameters:
waypoints – List of waypoints..
config – The configuration for the trajectory.
- Returns:
The generated trajectory.
- static setErrorHandler(func: Callable[[str], None]) None
Set error reporting function. By default, it is output to stderr.
- Parameters:
func – Error reporting function.
- static splinePointsFromSplines(*args, **kwargs)
Overloaded function.
splinePointsFromSplines(splines: List[wpimath.spline._spline.CubicHermiteSpline]) -> List[Tuple[wpimath.geometry._geometry.Pose2d, radians_per_meter]]
Generate spline points from a vector of splines by parameterizing the splines.
- Parameters:
splines – The splines to parameterize.
- Returns:
The spline points for use in time parameterization of a trajectory.
splinePointsFromSplines(splines: List[wpimath.spline._spline.QuinticHermiteSpline]) -> List[Tuple[wpimath.geometry._geometry.Pose2d, radians_per_meter]]
Generate spline points from a vector of splines by parameterizing the splines.
- Parameters:
splines – The splines to parameterize.
- Returns:
The spline points for use in time parameterization of a trajectory.