Public Member Functions
	PathPlannerPath (List< Translation2d > bezierPoints, List< RotationTarget > holonomicRotations, List< ConstraintsZone > constraintZones, List< EventMarker > eventMarkers, PathConstraints globalConstraints, GoalEndState goalEndState, boolean reversed, Rotation2d previewStartingRotation)

	PathPlannerPath (List< Translation2d > bezierPoints, List< RotationTarget > holonomicRotations, List< ConstraintsZone > constraintZones, List< EventMarker > eventMarkers, PathConstraints globalConstraints, GoalEndState goalEndState, boolean reversed)

	PathPlannerPath (List< Translation2d > bezierPoints, PathConstraints constraints, GoalEndState goalEndState, boolean reversed)

	PathPlannerPath (List< Translation2d > bezierPoints, PathConstraints constraints, GoalEndState goalEndState)

void	hotReload (JSONObject pathJson)

Pose2d	getStartingDifferentialPose ()

Pose2d	getPreviewStartingHolonomicPose ()

PathConstraints	getConstraintsForPoint (int idx)

List< PathPoint >	getAllPathPoints ()

int	numPoints ()

PathPoint	getPoint (int index)

PathConstraints	getGlobalConstraints ()

GoalEndState	getGoalEndState ()

List< EventMarker >	getEventMarkers ()

boolean	isReversed ()

PathPlannerPath	replan (Pose2d startingPose, ChassisSpeeds currentSpeeds)

boolean	isChoreoPath ()

PathPlannerTrajectory	getTrajectory (ChassisSpeeds startingSpeeds, Rotation2d startingRotation)

PathPlannerPath	flipPath ()

List< Pose2d >	getPathPoses ()

Static Public Member Functions
static PathPlannerPath	fromPathPoints (List< PathPoint > pathPoints, PathConstraints constraints, GoalEndState goalEndState)

static List< Translation2d >	bezierFromPoses (List< Pose2d > poses)

static List< Translation2d >	bezierFromPoses (Pose2d... poses)

static PathPlannerPath	fromPathFile (String pathName)

static PathPlannerPath	fromChoreoTrajectory (String trajectoryName)

Public Attributes
boolean	preventFlipping = false

Detailed Description

A PathPlanner path. NOTE: This is not a trajectory and isn't directly followed.

Constructor & Destructor Documentation

◆ PathPlannerPath() [1/4]

com.pathplanner.lib.path.PathPlannerPath.PathPlannerPath	(	List< Translation2d >	bezierPoints,
		List< RotationTarget >	holonomicRotations,
		List< ConstraintsZone >	constraintZones,
		List< EventMarker >	eventMarkers,
		PathConstraints	globalConstraints,
		GoalEndState	goalEndState,
		boolean	reversed,
		Rotation2d	previewStartingRotation )

Create a new path planner path

Parameters

bezierPoints	List of points representing the cubic Bezier curve of the path
holonomicRotations	List of rotation targets along the path
constraintZones	List of constraint zones along the path
eventMarkers	List of event markers along the path
globalConstraints	The global constraints of the path
goalEndState	The goal end state of the path
reversed	Should the robot follow the path reversed (differential drive only)
previewStartingRotation	The settings used for previews in the UI

◆ PathPlannerPath() [2/4]

com.pathplanner.lib.path.PathPlannerPath.PathPlannerPath	(	List< Translation2d >	bezierPoints,
		List< RotationTarget >	holonomicRotations,
		List< ConstraintsZone >	constraintZones,
		List< EventMarker >	eventMarkers,
		PathConstraints	globalConstraints,
		GoalEndState	goalEndState,
		boolean	reversed )

Create a new path planner path

Parameters

bezierPoints	List of points representing the cubic Bezier curve of the path
holonomicRotations	List of rotation targets along the path
constraintZones	List of constraint zones along the path
eventMarkers	List of event markers along the path
globalConstraints	The global constraints of the path
goalEndState	The goal end state of the path
reversed	Should the robot follow the path reversed (differential drive only)

◆ PathPlannerPath() [3/4]

com.pathplanner.lib.path.PathPlannerPath.PathPlannerPath	(	List< Translation2d >	bezierPoints,
		PathConstraints	constraints,
		GoalEndState	goalEndState,
		boolean	reversed )

Simplified constructor to create a path with no rotation targets, constraint zones, or event markers.

You likely want to use bezierFromPoses to create the bezier points.

Parameters

bezierPoints	List of points representing the cubic Bezier curve of the path
constraints	The global constraints of the path
goalEndState	The goal end state of the path
reversed	Should the robot follow the path reversed (differential drive only)

◆ PathPlannerPath() [4/4]

com.pathplanner.lib.path.PathPlannerPath.PathPlannerPath	(	List< Translation2d >	bezierPoints,
		PathConstraints	constraints,
		GoalEndState	goalEndState )

Simplified constructor to create a path with no rotation targets, constraint zones, or event markers.

You likely want to use bezierFromPoses to create the bezier points.

Parameters

bezierPoints	List of points representing the cubic Bezier curve of the path
constraints	The global constraints of the path
goalEndState	The goal end state of the path

Member Function Documentation

◆ bezierFromPoses() [1/2]

static List< Translation2d > com.pathplanner.lib.path.PathPlannerPath.bezierFromPoses ( List< Pose2d > poses )

static

Create the bezier points necessary to create a path using a list of poses

Parameters

poses List of poses. Each pose represents one waypoint.

Returns: Bezier points

◆ bezierFromPoses() [2/2]

static List< Translation2d > com.pathplanner.lib.path.PathPlannerPath.bezierFromPoses ( Pose2d... poses )

static

Create the bezier points necessary to create a path using a list of poses

Parameters

poses List of poses. Each pose represents one waypoint.

Returns: Bezier points

◆ flipPath()

PathPlannerPath com.pathplanner.lib.path.PathPlannerPath.flipPath ( )

Flip a path to the other side of the field, maintaining a global blue alliance origin

Returns: The flipped path

◆ fromChoreoTrajectory()

static PathPlannerPath com.pathplanner.lib.path.PathPlannerPath.fromChoreoTrajectory ( String trajectoryName )

static

Load a Choreo trajectory as a PathPlannerPath

Parameters

trajectoryName The name of the Choreo trajectory to load. This should be just the name of the trajectory. The trajectories must be located in the "deploy/choreo" directory.

Returns: PathPlannerPath created from the given Choreo trajectory file

◆ fromPathFile()

static PathPlannerPath com.pathplanner.lib.path.PathPlannerPath.fromPathFile ( String pathName )

static

Load a path from a path file in storage

Parameters

pathName The name of the path to load

Returns: PathPlannerPath created from the given file name

◆ fromPathPoints()

static PathPlannerPath com.pathplanner.lib.path.PathPlannerPath.fromPathPoints	(	List< PathPoint >	pathPoints,
		PathConstraints	constraints,
		GoalEndState	goalEndState )

static

Create a path with pre-generated points. This should already be a smooth path.

Parameters

pathPoints	Path points along the smooth curve of the path
constraints	The global constraints of the path
goalEndState	The goal end state of the path

Returns: A PathPlannerPath following the given pathpoints

◆ getAllPathPoints()

List< PathPoint > com.pathplanner.lib.path.PathPlannerPath.getAllPathPoints ( )

Get all the path points in this path

Returns: Path points in the path

◆ getConstraintsForPoint()

PathConstraints com.pathplanner.lib.path.PathPlannerPath.getConstraintsForPoint ( int idx )

Get the constraints for a point along the path

Parameters

idx	Index of the point to get constraints for

Returns: The constraints that should apply to the point

◆ getEventMarkers()

List< EventMarker > com.pathplanner.lib.path.PathPlannerPath.getEventMarkers ( )

Get all the event markers for this path

Returns: The event markers for this path

◆ getGlobalConstraints()

PathConstraints com.pathplanner.lib.path.PathPlannerPath.getGlobalConstraints ( )

Get the global constraints for this path

Returns: Global constraints that apply to this path

◆ getGoalEndState()

GoalEndState com.pathplanner.lib.path.PathPlannerPath.getGoalEndState ( )

Get the goal end state of this path

Returns: The goal end state

◆ getPathPoses()

List< Pose2d > com.pathplanner.lib.path.PathPlannerPath.getPathPoses ( )

Get a list of poses representing every point in this path. This can be used to display a path on a field 2d widget, for example.

Returns: List of poses for each point in this path

◆ getPoint()

PathPoint com.pathplanner.lib.path.PathPlannerPath.getPoint ( int index )

Get a specific point along this path

Parameters

index Index of the point to get

Returns: The point at the given index

◆ getPreviewStartingHolonomicPose()

Pose2d com.pathplanner.lib.path.PathPlannerPath.getPreviewStartingHolonomicPose ( )

Get the starting pose for the holomonic path based on the preview settings.

NOTE: This should only be used for the first path you are running, and only if you are not using an auto mode file. Using this pose to reset the robots pose between sequential paths will cause a loss of accuracy.

Returns: Pose at the path's starting point

◆ getStartingDifferentialPose()

Pose2d com.pathplanner.lib.path.PathPlannerPath.getStartingDifferentialPose ( )

Get the differential pose for the start point of this path

Returns: Pose at the path's starting point

◆ getTrajectory()

PathPlannerTrajectory com.pathplanner.lib.path.PathPlannerPath.getTrajectory	(	ChassisSpeeds	startingSpeeds,
		Rotation2d	startingRotation )

Generate a trajectory for this path.

Parameters

startingSpeeds	The robot-relative starting speeds.
startingRotation	The starting rotation of the robot.

Returns: The generated trajectory.

◆ hotReload()

void com.pathplanner.lib.path.PathPlannerPath.hotReload ( JSONObject pathJson )

Hot reload the path. This is used internally.

Parameters

pathJson Updated JSONObject for the path

◆ isChoreoPath()

boolean com.pathplanner.lib.path.PathPlannerPath.isChoreoPath ( )

Check if this path is loaded from a Choreo trajectory

Returns: True if this path is from choreo, false otherwise

◆ isReversed()

boolean com.pathplanner.lib.path.PathPlannerPath.isReversed ( )

Should the path be followed reversed (differential drive only)

Returns: True if reversed

◆ numPoints()

int com.pathplanner.lib.path.PathPlannerPath.numPoints ( )

Get the number of points in this path

Returns: Number of points in the path

◆ replan()

PathPlannerPath com.pathplanner.lib.path.PathPlannerPath.replan	(	Pose2d	startingPose,
		ChassisSpeeds	currentSpeeds )

Replan this path based on the current robot position and speeds

Parameters

startingPose	New starting pose for the replanned path
currentSpeeds	Current chassis speeds of the robot

Returns: The replanned path

Member Data Documentation

◆ preventFlipping

boolean com.pathplanner.lib.path.PathPlannerPath.preventFlipping = false

Set to true to prevent this path from being flipped (useful for OTF paths that already have the correct coords)

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

D:/SDASVN/2024/RaspberryPi/VSCode/Source/com/pathplanner/lib/path/PathPlannerPath.java

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PathPlannerPath() [1/4]

◆ PathPlannerPath() [2/4]

◆ PathPlannerPath() [3/4]

◆ PathPlannerPath() [4/4]

Member Function Documentation

◆ bezierFromPoses() [1/2]

◆ bezierFromPoses() [2/2]

◆ flipPath()

◆ fromChoreoTrajectory()

◆ fromPathFile()

◆ fromPathPoints()

◆ getAllPathPoints()

◆ getConstraintsForPoint()

◆ getEventMarkers()

◆ getGlobalConstraints()

◆ getGoalEndState()

◆ getPathPoses()

◆ getPoint()

◆ getPreviewStartingHolonomicPose()

◆ getStartingDifferentialPose()

◆ getTrajectory()

◆ hotReload()

◆ isChoreoPath()

◆ isReversed()

◆ numPoints()

◆ replan()

Member Data Documentation

◆ preventFlipping