java.lang.Object
- io.github.frc5024.purepursuit.pathgen.Path

Direct Known Subclasses:

BezierPath, RawPath, SmoothPath
```
public class Path
extends java.lang.Object
```
A "Path" is a list of closely spaces points in space for a robot to follow. The default Path class will generate paths with any number of waypoints, and create linear sub-paths.

Field Summary

Fields
Modifier and Type	Field	Description
`protected java.lang.String`	`name`
`protected double`	`pathGenStartTimeMs`
`protected double`	`pathGenTimeMs`
`protected java.util.ArrayList<Translation2d>`	`points`
`protected Translation2d[]`	`waypoints`

Constructor Summary

Constructors
Constructor	Description
`Path(double spacing, Translation2d... waypoints)`	Create a motion path from points
`Path(Translation2d... waypoints)`	Create a motion path from points

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`protected void`	`beginTimingGeneration()`	Begins an internal timer for profiling path gen time
`XYChart`	`getPathVisualization()`	Get a chart showing every generated path point in 2D space.
`Translation2d[]`	`getPoses()`	Get a list of all poses along the path
`protected void`	`saveAndLogGenerationTime()`	Logs how long path gen took
`java.lang.String`	`toString()`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Field Detail
  - points
```
protected java.util.ArrayList<Translation2d> points
```
  - waypoints
```
protected Translation2d[] waypoints
```
  - pathGenStartTimeMs
```
protected double pathGenStartTimeMs
```
  - pathGenTimeMs
```
protected double pathGenTimeMs
```
  - name
```
protected java.lang.String name
```
- Constructor Detail
  - Path
```
public Path(Translation2d... waypoints)
```
    Create a motion path from points
    
    Parameters:
    
    waypoints - Path waypoints to follow
  - Path
```
public Path(double spacing,
            Translation2d... waypoints)
```
    Create a motion path from points
    
    Parameters:
    
    spacing - Amount of space between "inner" points in meters
    
    waypoints - Path waypoints to follow
- Method Detail
  - beginTimingGeneration
```
protected void beginTimingGeneration()
```
    Begins an internal timer for profiling path gen time
  - saveAndLogGenerationTime
```
protected void saveAndLogGenerationTime()
```
    Logs how long path gen took
  - getPoses
```
public Translation2d[] getPoses()
```
    Get a list of all poses along the path
    
    Returns:
    
    Poses
  - toString
```
public java.lang.String toString()
```
    Overrides:
    
    toString in class java.lang.Object
  - getPathVisualization
```
public XYChart getPathVisualization()
```
    Get a chart showing every generated path point in 2D space. Can be written to disk for debugging and demos.
    
    Returns:
    
    Path visualization

Class Path

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

points

waypoints

pathGenStartTimeMs

pathGenTimeMs

name

Constructor Detail

Path

Path

Method Detail

beginTimingGeneration

saveAndLogGenerationTime

getPoses

toString

getPathVisualization