TrajectoryParameterizer
- class wpimath.trajectory.TrajectoryParameterizer
Bases:
pybind11_object
Class used to parameterize a trajectory by time.
- static timeParameterizeTrajectory(points: List[Tuple[wpimath.geometry._geometry.Pose2d, radians_per_meter]], constraints: List[wpimath._controls._controls.constraint.TrajectoryConstraint], startVelocity: meters_per_second, endVelocity: meters_per_second, maxVelocity: meters_per_second, maxAcceleration: meters_per_second_squared, reversed: bool) wpimath._controls._controls.trajectory.Trajectory
Parameterize the 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.
startVelocity – The start velocity for the trajectory.
endVelocity – The end velocity for the trajectory.
maxVelocity – The max velocity for the trajectory.
maxAcceleration – 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 trajectory.