Fluent Builder API for constructing TrajectoryConfig instances cleanly. More...

#include <trajectory_config.h>

Public Member Functions
	TrajectoryConfigBuilder (units::Velocity max_velocity, units::Acceleration max_acceleration)
	Creates a builder with max velocity and max acceleration limits.
TrajectoryConfigBuilder &	with_start_velocity (units::Velocity v)
	Configures initial trajectory velocity.
TrajectoryConfigBuilder &	with_end_velocity (units::Velocity v)
	Configures final trajectory velocity.
TrajectoryConfigBuilder &	with_reversed (bool reversed=true)
	Configures reverse driving flag.
TrajectoryConfigBuilder &	with_sample_ds (units::Length ds)
	Configures spatial spline discretization step size.
TrajectoryConfigBuilder &	with_track_width (units::Length track_width, units::Velocity max_wheel_speed, units::Acceleration max_wheel_acceleration)
	Configures drivetrain track width kinematics constraint with explicit limits.
TrajectoryConfigBuilder &	with_track_width (units::Length track_width, units::Velocity max_wheel_speed)
	Configures drivetrain track width kinematics constraint with explicit wheel speed.
TrajectoryConfigBuilder &	with_track_width (units::Length track_width)
	Configures drivetrain track width kinematics constraint.
TrajectoryConfigBuilder &	with_kinematics (const TankKinematics &kinematics, units::Velocity max_wheel_speed, units::Acceleration max_wheel_acceleration)
	Configures drivetrain kinematics constraint using TankKinematics and explicit limits.
TrajectoryConfigBuilder &	with_kinematics (const TankKinematics &kinematics, units::Velocity max_wheel_speed)
	Configures drivetrain kinematics constraint using TankKinematics and explicit wheel speed.
TrajectoryConfigBuilder &	with_kinematics (const TankKinematics &kinematics)
	Configures drivetrain kinematics constraint using TankKinematics and default limits.
TrajectoryConfigBuilder &	with_spline_order (SplinePath::Order order)
	Configures spline order.
TrajectoryConfigBuilder &	with_error_handler (std::function< void(const char *)> handler)
	Configures custom error handler callback.
template<typename Constraint>
TrajectoryConfigBuilder &	with_constraint (Constraint &&constraint)
	Adds a custom physical trajectory constraint.
TrajectoryConfigBuilder &	with_event (const std::string &name, units::Length distance)
	Adds a distance-triggered event to the trajectory.
TrajectoryConfig	build ()
	Builds and returns constructed TrajectoryConfig instance.

Detailed Description

Fluent Builder API for constructing TrajectoryConfig instances cleanly.

The documentation for this class was generated from the following file:

trajectory_config.h

Public Member Functions

Detailed Description