Java Trajectory类代码示例

import jaci.pathfinder.Trajectory; //导入依赖的package包/类
public RightGearCurve() {
    // Add Commands here:
    // e.g. addSequential(new Command1());
    //      addSequential(new Command2());
    // these will run in order.

    // To run multiple commands at the same time,
    // use addParallel()
    // e.g. addParallel(new Command1());
    //      addSequential(new Command2());
    // Command1 and Command2 will run in parallel.

    // A command group will require all of the subsystems that each member
    // would require.
    // e.g. if Command1 requires chassis, and Command2 requires arm,
    // a CommandGroup containing them would require both the chassis and the
    // arm.
	
	Waypoint[] points =  new Waypoint[] {
new Waypoint(0, 0, 0),
new Waypoint(104.5, 16.35, Pathfinder.d2r(60))
};
	Config config = new Config(
Trajectory.FitMethod.HERMITE_CUBIC,
Trajectory.Config.SAMPLES_HIGH, RobotMap.PROFILE_DT, 30.0, 20.0, 240.0);
	TankModifier profile = new TankModifier(Pathfinder.generate(points, config)).modify(28);
	
	addSequential(new FollowProfile(profile));
	
}
 

import jaci.pathfinder.Trajectory; //导入依赖的package包/类
public LeftGearCurve() {
    // Add Commands here:
    // e.g. addSequential(new Command1());
    //      addSequential(new Command2());
    // these will run in order.

    // To run multiple commands at the same time,
    // use addParallel()
    // e.g. addParallel(new Command1());
    //      addSequential(new Command2());
    // Command1 and Command2 will run in parallel.

    // A command group will require all of the subsystems that each member
    // would require.
    // e.g. if Command1 requires chassis, and Command2 requires arm,
    // a CommandGroup containing them would require both the chassis and the
    // arm.
	Waypoint[] points =  new Waypoint[] {
new Waypoint(0, 0, 0),
new Waypoint(104.5, -16.35, Pathfinder.d2r(-60))
};
	Config config = new Config(
Trajectory.FitMethod.HERMITE_CUBIC,
Trajectory.Config.SAMPLES_HIGH, RobotMap.PROFILE_DT, 30.0, 20.0, 240.0);
	TankModifier profile = new TankModifier(Pathfinder.generate(points, config)).modify(28);
	
	addSequential(new FollowProfile(profile));
}
 

import jaci.pathfinder.Trajectory; //导入依赖的package包/类
public void stationTrajectory(int station, boolean isRed) {
	File left, right;
	if (isRed) {
		left = new File("home//lvuser//left_" + (station - 1) + ".csv");
		right = new File("home//lvuser//right_" + (station - 1) + ".csv");
	} else {
		left = new File("home//lvuser//right_" + (station - 1) + ".csv");
		right = new File("home//lvuser//left_" + (station - 1) + ".csv");
	}
	Trajectory leftTraj = Pathfinder.readFromCSV(left);
	Trajectory rightTraj = Pathfinder.readFromCSV(right);
	setTrajectories(leftTraj, rightTraj);
}
 

import jaci.pathfinder.Trajectory; //导入依赖的package包/类
public static void main(String[] args) {
	Trajectory[][] t = Trajectories.returnTankTraj(Trajectories.returnTraj(Waypoints.NEUTRAL_PAIRS));
	for (int i = 3; i < t.length + 3; i++) {
		Trajectory[] pair = t[i-3];
		File left = new File("left_" + Integer.toString(i) + ".csv");
		File right = new File("right_" + Integer.toString(i) + ".csv");
		Pathfinder.writeToCSV(left, pair[0]);
		Pathfinder.writeToCSV(right, pair[1]);
	}
}
 

import jaci.pathfinder.Trajectory; //导入依赖的package包/类
public static Trajectory[] returnTraj(Waypoint[][] pairs) {
	Trajectory[] traj = new Trajectory[pairs.length];
	for (int i = 0; i < pairs.length; i++) {
		traj[i] = Pathfinder.generate(pairs[i], Waypoints.config);
	}
	return traj;
}
 

import jaci.pathfinder.Trajectory; //导入依赖的package包/类
public static Trajectory[][] returnTankTraj(Trajectory[] traj) {
	Trajectory[][] tankTraj = new Trajectory[traj.length][2];
	for (int i = 0; i < traj.length; i++) {
		TankModifier mod = new TankModifier(traj[i]);
		mod.modify(23);
		Trajectory[] pair = new Trajectory[2];
		pair[0] = mod.getLeftTrajectory();
		pair[1] = mod.getRightTrajectory();
		tankTraj[i] = pair;
	}
	return tankTraj;
}
 

import jaci.pathfinder.Trajectory; //导入依赖的package包/类
public void trajectory(int number, boolean isRed) {
	File left, right;
	if (isRed) {
		left = new File("home//lvuser//left_" + (number - 1) + ".csv");
		right = new File("home//lvuser//right_" + (number - 1) + ".csv");
	} else {
		left = new File("home//lvuser//right_" + (number - 1) + ".csv");
		right = new File("home//lvuser//left_" + (number - 1) + ".csv");
	}
	Trajectory leftTraj = Pathfinder.readFromCSV(left);
	Trajectory rightTraj = Pathfinder.readFromCSV(right);
	setTrajectories(leftTraj, rightTraj);
}
 

import jaci.pathfinder.Trajectory; //导入依赖的package包/类
public void setTrajectories(Trajectory leftTraj, Trajectory rightTraj) {
	this.leftTraj = leftTraj;
	this.rightTraj = rightTraj;
	trajLength = leftTraj.length();
}