Package me.nabdev.pathfinding.structures

Class Path

java.lang.Object

java.util.AbstractCollection<E>

java.util.AbstractList<E>

java.util.ArrayList<Vertex>

me.nabdev.pathfinding.structures.Path

All Implemented Interfaces:

Serializable, Cloneable, Iterable<Vertex>, Collection<Vertex>, List<Vertex>, RandomAccess

public class Path
extends ArrayList<Vertex>

A Path is a list of Vertices that represent a path from a start point to a target point.

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
Pathfinder.PathfindSnapMode	snapMode	The snap mode used to create this path.

Fields inherited from class java.util.AbstractList

modCount

Constructor Summary

Constructors

Constructor	Description
Path(Vertex start, Vertex target, ArrayList<Vertex> points)	Creates a new Path with the given start and target vertices and the given
Path(Vertex start, Vertex target, Pathfinder pathfinder)	Creates a new Path with the given start and target vertices.

Method Summary

Modifier and Type	Method	Description
void	addPath(Path path)	Add a path to the end of this path, to be used BEFORE processing the path.
ArrayList<edu.wpi.first.math.geometry.Pose2d>	asPose2dList()	Get the path as a Pose2d ArrayList.
edu.wpi.first.math.trajectory.Trajectory	asTrajectory(edu.wpi.first.math.trajectory.TrajectoryConfig config)	Get the path as a Trajectory.
Vertex	end()	Get the last vertex in the path (not including the target vertex)
edu.wpi.first.math.geometry.Rotation2d	getFinalRot()	Get rotation at the final point of the path
ArrayList<Vertex>	getFullPath()	Get the full path including the start and target vertices.
Vertex	getStart()	Get the start vertex.
Vertex	getTarget()	Get the target vertex.
Vertex	getUnsnappedTarget()	Get the unsnapped target vertex.
void	processPath(Pathfinder.PathfindSnapMode snapMode)	Apply all processing to the path to prepare it for use.
void	setUnsnappedTarget(Vertex unsnappedTarget)	Set the original unsnapped target vertex (the target vertex before it was snapped to be outside of all obstacles).
double[]	toDoubleArray()	Get the path as a double array [x, y, rotation, x, y, rotation, ...].

Methods inherited from class java.util.ArrayList

add, add, addAll, addAll, clear, clone, contains, ensureCapacity, equals, forEach, get, hashCode, indexOf, isEmpty, iterator, lastIndexOf, listIterator, listIterator, remove, remove, removeAll, removeIf, removeRange, replaceAll, retainAll, set, size, sort, spliterator, subList, toArray, toArray, trimToSize

Methods inherited from class java.util.AbstractCollection

containsAll, toString

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface java.util.Collection

parallelStream, stream, toArray

Methods inherited from interface java.util.List

containsAll

Field Details

snapMode

public Pathfinder.PathfindSnapMode snapMode

The snap mode used to create this path.

Constructor Details

Path

public Path(Vertex start,
 Vertex target,
 Pathfinder pathfinder)

Creates a new Path with the given start and target vertices.

Parameters:

start - The start vertex of the path.

target - The target vertex of the path.

pathfinder - The Pathfinder that created this path.

Path

public Path(Vertex start,
 Vertex target,
 ArrayList<Vertex> points)

Creates a new Path with the given start and target vertices and the given

Parameters:

start - The start vertex of the path.

target - The target vertex of the path.

points - The points in the path.

Method Details

setUnsnappedTarget

public void setUnsnappedTarget(Vertex unsnappedTarget)

Set the original unsnapped target vertex (the target vertex before it was snapped to be outside of all obstacles).

Parameters:

unsnappedTarget - The original unsnapped target vertex.

addPath

public void addPath(Path path)

Add a path to the end of this path, to be used BEFORE processing the path.

Parameters:

path - The path to add.

getUnsnappedTarget

public Vertex getUnsnappedTarget()

Get the unsnapped target vertex.

Returns:

The unsnapped target vertex

end

public Vertex end()

Get the last vertex in the path (not including the target vertex)

Returns:

The last vertex in the path.

processPath

public void processPath(Pathfinder.PathfindSnapMode snapMode)

Apply all processing to the path to prepare it for use.

Parameters:

snapMode - The snap mode to use.

getFinalRot

public edu.wpi.first.math.geometry.Rotation2d getFinalRot()

Get rotation at the final point of the path

Returns:

The final rotation of the path.

toDoubleArray

public double[] toDoubleArray()

Get the path as a double array [x, y, rotation, x, y, rotation, ...]. Rotation is in degrees.

Returns:

The path as a double array.

asPose2dList

public ArrayList<edu.wpi.first.math.geometry.Pose2d> asPose2dList()

Get the path as a Pose2d ArrayList.

Returns:

An ArrayList of Pose2ds representing the path.

asTrajectory

public edu.wpi.first.math.trajectory.Trajectory asTrajectory(edu.wpi.first.math.trajectory.TrajectoryConfig config)
                                                      throws ImpossiblePathException

Get the path as a Trajectory.

Parameters:

config - The TrajectoryConfig to use.

Returns:

The path as a Trajectory.

Throws:

ImpossiblePathException - if the trajectory could not be generated.

getStart

public Vertex getStart()

Get the start vertex.

Returns:

The start vertex

getTarget

public Vertex getTarget()

Get the target vertex.

Returns:

The target vertex

getFullPath

public ArrayList<Vertex> getFullPath()

Get the full path including the start and target vertices.

Returns:

The full path including the start and target vertices.