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

Example 21 with Trajectory

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

the class ExamplePathfinder method betterGoToSomePoints.

public void betterGoToSomePoints() {
    // generate a list of trajectories w/ LinearTrajectoryBuilder
    // the setSpeed method is used to dynamically adjust the speed of
    // the robot - for example, the speed is halved, then the speed
    // is reset, then the speed is doubled
    List<Trajectory> trajectories = new LinearTrajectoryBuilder(SPEED, TOLERANCE, ANGLE_TOLERANCE, PointXYZ.ZERO).goTo(new PointXYZ(0, 0, 0)).goTo(new PointXYZ(10, 0, 0)).setSpeed(SPEED / 2).goTo(new PointXYZ(10, 10, 0)).setSpeed(SPEED).goTo(new PointXYZ(0, 10, 0)).setSpeed(SPEED * 2).goTo(new PointXYZ(0, 0, 0)).getTrajectories();
    // follow the trajectories with a timeout of 10 seconds. if more than
    // 10 seconds pass and the trajectories haven't finished yet, stop
    // following the trajectories
    pathfinder.followTrajectories(trajectories).tickUntil(10_000);
}

Example 22 with Trajectory

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

the class MultiSegmentTrajectory method toString.

@Override
public String toString() {
    StringBuilder builder = new StringBuilder();
    builder.append("MultiSegmentTrajectory (");
    for (Trajectory trajectory : trajectories) {
        builder.append(trajectory);
        builder.append(',');
    }
    if (trajectories.size() > 0)
        builder.setLength(builder.length() - 1);
    builder.append(')');
    return builder.toString();
}

Example 23 with Trajectory

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

the class Pathfinder method splineTo.

/**
 * Create a spline trajectory to a certain target point, and then follow
 * that aforementioned trajectory.
 *
 * <p>
 * If this method is called on a set of points with non-monotonic Y
 * values, this will instead invoke
 * {@link #multiSplineTo(double, double, Angle, PointXYZ...)}, which
 * supports non-monotonic Y values.
 * </p>
 *
 * @param speed          the speed at which the robot should move. This
 *                       is a constant value.
 * @param tolerance      the tolerance used for determining whether the
 *                       robot is at the target point.
 * @param angleTolerance same thing as {@code tolerance}, but for the
 *                       robot's angle.
 * @param points         a set of control points for the spline. This
 *                       will automatically insert the robot's current
 *                       position into this array. This array must have
 *                       AT LEAST two points.
 * @return {@code this}, used for method chaining.
 */
public Pathfinder splineTo(double speed, double tolerance, Angle angleTolerance, PointXYZ... points) {
    if (points.length < 2)
        throw new IllegalArgumentException("At least two control points are required to use the " + "splineTo method.");
    InvalidSpeedException.throwIfInvalid("Invalid speed value provided! Speed must be between 0 and 1.", speed);
    InvalidToleranceException.throwIfInvalid("Invalid tolerance! Tolerance must be a positive number.", tolerance);
    if (angleTolerance.deg() < 0)
        throw new InvalidToleranceException("Invalid angle tolerance! " + "Angle tolerance must be greater than 0 degrees.");
    NotNull.throwExceptionIfNull("One or more points provided to splineTo was null!", (Object[]) points);
    // non-monotonic Y values means we need to use a multi spline instead
    if (!Spline.areMonotonicY(points))
        return multiSplineTo(speed, tolerance, angleTolerance, points);
    // length is the total distance of the spline (NOT all control points)
    double length = PointXY.distance(points[0], points[points.length - 1]);
    // step should be relatively small - by default, it's 1/20th of
    // the spline's length.
    double step = length / Core.pathfinderStepDivisor;
    AdvancedSplineTrajectoryBuilder builder = new AdvancedSplineTrajectoryBuilder().setSpeed(speed).setTolerance(tolerance).setAngleTolerance(angleTolerance).setStep(step);
    PointXYZ robotPosition = getPosition();
    // to the trajectory
    if (!robotPosition.equals(points[0]))
        builder.add(robotPosition);
    PointXYZ lastPoint = points[0];
    for (int i = 1; i < points.length; i++) {
        PointXYZ point = points[i];
        if (point == null)
            throw new NullPointException("Cannot use the splineTo method with a null " + "control point!");
        if (!point.equals(lastPoint)) {
            builder.add(point);
            lastPoint = point;
        } else {
            throw new SplineException("There were duplicate adjacent points in the set " + "of control points! This means there's the same " + "point, twice in a row. The points were: " + Arrays.toString(points));
        }
    }
    Trajectory trajectory = builder.build();
    return followTrajectory(trajectory);
}

Example 24 with Trajectory

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

the class Pathfinder method multiSplineTo.

/**
 * Use a {@link MultiSplineBuilder} to construct a spline trajectory.
 *
 * @param speed          the speed at which the robot should move. This
 *                       is a constant value.
 * @param tolerance      the tolerance used for determining whether the
 *                       robot is at the target point.
 * @param angleTolerance same thing as {@code tolerance}, but for the
 *                       robot's angle.
 * @param points         a set of control points for the spline. This
 *                       will automatically insert the robot's current
 *                       position into this array. This array must have
 *                       AT LEAST two points.
 * @return {@code this}, used for method chaining.
 */
public Pathfinder multiSplineTo(double speed, double tolerance, Angle angleTolerance, PointXYZ... points) {
    if (points.length < 2)
        throw new IllegalArgumentException("At least two control points are required to use the " + "splineTo method.");
    checkForMissingDefaultValues();
    InvalidSpeedException.throwIfInvalid("Invalid speed value provided! Speed must be between 0 and 1.", speed);
    InvalidToleranceException.throwIfInvalid("Invalid tolerance! Tolerance must be a positive number.", tolerance);
    if (angleTolerance.deg() < 0)
        throw new InvalidToleranceException("Invalid angle tolerance! " + "Angle tolerance must be greater than 0 degrees.");
    if (!Spline.areMonotonicX(points))
        throw new SplineException("Cannot create a spline with non-" + "monotonic X values! X values can only be either " + "increasing or decreasing, but not a combination of both.");
    double totalDistanceX = points[points.length - 1].distanceX(points[0]);
    double step = totalDistanceX / (points.length * Core.pathfinderSplineStepCoefficient);
    MultiSplineBuilder builder = new MultiSplineBuilder().setDefaultSpeed(speed).setDefaultTolerance(tolerance).setDefaultAngleTolerance(angleTolerance).setDefaultStep(step);
    for (PointXYZ point : points) builder.add(point, speed, step);
    Trajectory trajectory = builder.build();
    followTrajectory(trajectory);
    return this;
}

Example 25 with Trajectory

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

the class TestSimulatedChassis method testMultipleSplines.

@Test
public void testMultipleSplines() {
    Trajectory[] splines = new Trajectory[] { factory.builder().add(new PointXYZ(0, 0, 0)).add(new PointXYZ(4, 10, 0)).add(new PointXYZ(8, 12, 0)).build(), factory.builder().add(new PointXYZ(8, 12, 0)).add(new PointXYZ(16, 10, 0)).add(new PointXYZ(18, 5, 0)).build(), factory.builder().add(new PointXYZ(18, 5, 0)).add(new PointXYZ(20, 10, 0)).add(new PointXYZ(22, 12, 0)).build() };
    for (Trajectory spline : splines) pathfinder.followTrajectory(spline);
    pathfinder.tickUntil(500);
    assertPositionIs(new PointXYZ(22, 12, 0));
}