com.pathplanner.lib.util.ReplanningConfig Class Reference

Public Member Functions
	ReplanningConfig (boolean enableInitialReplanning, boolean enableDynamicReplanning, double dynamicReplanningTotalErrorThreshold, double dynamicReplanningErrorSpikeThreshold)
	ReplanningConfig (boolean enableInitialReplanning, boolean enableDynamicReplanning)
	ReplanningConfig ()

Public Attributes
final boolean	enableInitialReplanning
final boolean	enableDynamicReplanning
final double	dynamicReplanningTotalErrorThreshold
final double	dynamicReplanningErrorSpikeThreshold

Detailed Description

Configuration for path replanning

Constructor & Destructor Documentation

ReplanningConfig() [1/3]

com.pathplanner.lib.util.ReplanningConfig.ReplanningConfig	(	boolean	enableInitialReplanning,
		boolean	enableDynamicReplanning,
		double	dynamicReplanningTotalErrorThreshold,
		double	dynamicReplanningErrorSpikeThreshold )

Create a path replanning configuration

Parameters

enableInitialReplanning	Should the path be replanned at the start of path following if the robot is not already at the starting point?
enableDynamicReplanning	Should the path be replanned if the error grows too large or if a large error spike happens while following the path?
dynamicReplanningTotalErrorThreshold	The total error threshold, in meters, that will cause the path to be replanned
dynamicReplanningErrorSpikeThreshold	The error spike threshold, in meters, that will cause the path to be replanned

ReplanningConfig() [2/3]

com.pathplanner.lib.util.ReplanningConfig.ReplanningConfig	(	boolean	enableInitialReplanning,
		boolean	enableDynamicReplanning )

Create a path replanning configuration with default dynamic replanning error thresholds

Parameters

enableInitialReplanning	Should the path be replanned at the start of path following if the robot is not already at the starting point?
enableDynamicReplanning	Should the path be replanned if the error grows too large or if a large error spike happens while following the path?

ReplanningConfig() [3/3]

com.pathplanner.lib.util.ReplanningConfig.ReplanningConfig

(

)

Create a path replanning configuration with the default config. This will only have initial replanning enabled.

Member Data Documentation

dynamicReplanningErrorSpikeThreshold

final double com.pathplanner.lib.util.ReplanningConfig.dynamicReplanningErrorSpikeThreshold

The error spike threshold, in meters, that will cause the path to be replanned

dynamicReplanningTotalErrorThreshold

final double com.pathplanner.lib.util.ReplanningConfig.dynamicReplanningTotalErrorThreshold

The total error threshold, in meters, that will cause the path to be replanned

enableDynamicReplanning

final boolean com.pathplanner.lib.util.ReplanningConfig.enableDynamicReplanning

Should the path be replanned if the error grows too large or if a large error spike happens while following the path?

enableInitialReplanning

final boolean com.pathplanner.lib.util.ReplanningConfig.enableInitialReplanning

Should the path be replanned at the start of path following if the robot is not already at the starting point?

---

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

• D:/SDASVN/2025/RaspberryPi/VSCode/Source/com/pathplanner/lib/util/ReplanningConfig.java