Package lib.commands.trajectory

Interface TrajectoryCommand

All Known Subinterfaces:
TrajectoryCommand.Multi, TrajectoryCommand.Single
All Known Implementing Classes:
AsyncPathPlannerSequence, ParallelDeadlinePathPlannerGroup, ParallelPathPlannerGroup, SequentialPathPlannerGroup
public interface TrajectoryCommand
A command that includes trajectory data, most likely a PathPlanner path. Command compositions can be replaced with a custom wrapper that serves the same functionality but also implements this interface:

  • Method Details

    • getDuration

      double getDuration()

    • getTrajPreview

      edu.wpi.first.math.geometry.Pose2d[] getTrajPreview(int steps)

    • getTrajPreview

      default edu.wpi.first.math.geometry.Pose2d[] getTrajPreview()

    • getInitialPose

      edu.wpi.first.math.geometry.Pose2d getInitialPose()

    • getEndPose

      edu.wpi.first.math.geometry.Pose2d getEndPose()

    • filterTrajCommands

      static TrajectoryCommand[] filterTrajCommands(edu.wpi.first.wpilibj2.command.Command... commands)

    • findTrajCommand

      static TrajectoryCommand findTrajCommand(edu.wpi.first.wpilibj2.command.Command... commands)