Examples with Trajectory com.team254.lib_2014.trajectory.Trajectory used on opensource projects

Example 16 with Trajectory

use of com.team254.lib_2014.trajectory.Trajectory in project Pathfinder2 by Wobblyyyy.

the class TrajectoryFactory method getFastTrajectories.

public static List<Trajectory> getFastTrajectories(PointXYZ start, List<PointXYZ> points, double speed) {
    List<Trajectory> trajectories = new ArrayList<>(points.size() - 1);
    PointXYZ lastPoint = start;
    for (PointXYZ point : points) {
        FastTrajectory trajectory = new FastTrajectory(lastPoint, point, speed);
        trajectories.add(trajectory);
        lastPoint = point;
    }
    return trajectories;
}

Example 17 with Trajectory

use of com.team254.lib_2014.trajectory.Trajectory in project Pathfinder2 by Wobblyyyy.

the class TestSimulatedChassis method testGlobalTrajectoryMap.

@Test
public void testGlobalTrajectoryMap() {
    Class<?> clazz = TestSimulatedChassis.class;
    Trajectory trajectory = factory.builder().add(new PointXYZ(0, 0, 0)).add(new PointXYZ(0, 0, 0).inDirection(10, Angle.fromDeg(45))).add(new PointXYZ(10, 10, 0)).build();
    Pathfinder.addTrajectory(clazz, "test", trajectory);
    pathfinder.followTrajectory(clazz, "test");
    pathfinder.tickUntil(500);
    Pathfinder.removeTrajectory(clazz, "test");
    assertPositionIs(new PointXYZ(10, 10, 0));
}

Example 18 with Trajectory

use of com.team254.lib_2014.trajectory.Trajectory in project Pathfinder2 by Wobblyyyy.

the class TestSimulatedChassis method testArcSpline.

@Test
public void testArcSpline() {
    Trajectory trajectory = factory.builder().add(new PointXYZ(0, 0, 0)).add(new PointXYZ(10, 0, 0).inDirection(10, Angle.fixedDeg(135))).add(new PointXYZ(10, 10, 0)).build();
    pathfinder.followTrajectory(trajectory);
    pathfinder.tickUntil(500);
    assertPositionIs(new PointXYZ(10, 10, 0));
}

Example 19 with Trajectory

use of com.team254.lib_2014.trajectory.Trajectory in project Pathfinder2 by Wobblyyyy.

the class TestSimulatedChassis method testOnFinishFollower.

@Test
public void testOnFinishFollower() {
    AtomicInteger count = new AtomicInteger(0);
    Consumer<PointXYZ> consumer = position -> {
        count.getAndIncrement();
    };
    Trajectory a = new LinearTrajectory(new PointXYZ(10, 10, 0), 0.05, 0.01, Angle.fromDeg(1)).reflectX(0).onFinish(consumer);
    Trajectory b = new LinearTrajectory(new PointXYZ(10, 10, 0), 0.05, 0.01, Angle.fromDeg(1)).reflectY(0).onFinish(consumer);
    Trajectory c = new LinearTrajectory(new PointXYZ(10, 10, 0), 0.05, 0.01, Angle.fromDeg(1)).reflectX(0).reflectY(0).onFinish(consumer);
    pathfinder.followTrajectories(a, b, c);
    pathfinder.tickUntil(500);
    assertPositionIs(new PointXYZ(-10, -10, 0));
    Assertions.assertEquals(3, count.get());
}

Example 20 with Trajectory

use of com.team254.lib_2014.trajectory.Trajectory in project Pathfinder2 by Wobblyyyy.

the class TestAdvancedSplineTrajectory method testSplineTo.

private void testSplineTo(PointXYZ... points) {
    if (points.length < 1)
        throw new IllegalArgumentException();
    AdvancedSplineTrajectoryBuilder builder = new AdvancedSplineTrajectoryBuilder().setStep(0.1).setTolerance(tolerance).setSpeed(speed).setAngleTolerance(angleTolerance);
    builder.setInterpolationMode(mode);
    for (PointXYZ point : points) builder.add(point);
    builder.setInterpolationMode(InterpolationMode.DEFAULT);
    Trajectory trajectory = builder.build();
    PointXYZ target = points[points.length - 1];
    testTrajectory(trajectory, target);
}