Inheritance diagram for com.pathplanner.lib.pathfinding.Pathfinder:

Public Member Functions
boolean	isNewPathAvailable ()

PathPlannerPath	getCurrentPath (PathConstraints constraints, GoalEndState goalEndState)

void	setStartPosition (Translation2d startPosition)

void	setGoalPosition (Translation2d goalPosition)

void	setDynamicObstacles (List< Pair< Translation2d, Translation2d > > obs, Translation2d currentRobotPos)

Detailed Description

Interface for a pathfinder that can be used by PPLib's pathfinding commands

Member Function Documentation

PathPlannerPath com.pathplanner.lib.pathfinding.Pathfinder.getCurrentPath	(	PathConstraints	constraints,
		GoalEndState	goalEndState )

Get the most recently calculated path

Parameters

constraints	The path constraints to use when creating the path
goalEndState	The goal end state to use when creating the path

Returns: The PathPlannerPath created from the points calculated by the pathfinder

boolean com.pathplanner.lib.pathfinding.Pathfinder.isNewPathAvailable ( )

Get if a new path has been calculated since the last time a path was retrieved

void com.pathplanner.lib.pathfinding.Pathfinder.setDynamicObstacles	(	List< Pair< Translation2d, Translation2d > >	obs,
		Translation2d	currentRobotPos )

Set the dynamic obstacles that should be avoided while pathfinding.

Parameters

obs	A List of Translation2d pairs representing obstacles. Each Translation2d represents opposite corners of a bounding box.
currentRobotPos	The current position of the robot. This is needed to change the start position of the path to properly avoid obstacles

void com.pathplanner.lib.pathfinding.Pathfinder.setGoalPosition ( Translation2d goalPosition )

Set the goal position to pathfind to

Parameters

goalPosition Goal position on the field. f this is within an obstacle it will be moved to the nearest non-obstacle node.

void com.pathplanner.lib.pathfinding.Pathfinder.setStartPosition ( Translation2d startPosition )

Set the start position to pathfind from

Parameters

startPosition Start position on the field. If this is within an obstacle it will be moved to the nearest non-obstacle node.

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

D:/SDASVN/2024/RaspberryPi/VSCode/Source/com/pathplanner/lib/pathfinding/Pathfinder.java