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Update on-the-fly docs for waypointsFromPoses #855

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Oct 9, 2024
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Update on-the-fly docs for waypointsFromPoses #855

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27 changes: 14 additions & 13 deletions Writerside/topics/pplib-Create-a-Path-On-the-fly.md
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,8 @@ and a helper method available that makes doing so a lot easier.

> **Warning**
>
> The `bezierFromPoses` method required that the rotation component of each pose is the **direction of travel**, not the
> The `waypointsFromPoses` method required that the rotation component of each pose is the **direction of travel**, not
> the
> rotation of a swerve chassis.
>
> To set the rotation the path should end with, use the `GoalEndState`.
Expand All @@ -23,17 +24,17 @@ and a helper method available that makes doing so a lot easier.
<tab title="Java" group-key="java">

```Java
// Create a list of bezier points from poses. Each pose represents one waypoint.
// Create a list of waypoints from poses. Each pose represents one waypoint.
// The rotation component of the pose should be the direction of travel. Do not use holonomic rotation.
List<Translation2d> bezierPoints = PathPlannerPath.bezierFromPoses(
List<Waypoint> waypoints = PathPlannerPath.waypointsFromPoses(
new Pose2d(1.0, 1.0, Rotation2d.fromDegrees(0)),
new Pose2d(3.0, 1.0, Rotation2d.fromDegrees(0)),
new Pose2d(5.0, 3.0, Rotation2d.fromDegrees(90))
);

// Create the path using the bezier points created above
// Create the path using the waypoints created above
PathPlannerPath path = new PathPlannerPath(
bezierPoints,
waypoints,
new PathConstraints(3.0, 3.0, 2 * Math.PI, 4 * Math.PI), // The constraints for this path. If using a differential drivetrain, the angular constraints have no effect.
null, // The ideal starting state, this is only relevant for pre-planned paths, so can be null for on-the-fly paths.
new GoalEndState(0.0, Rotation2d.fromDegrees(-90)) // Goal end state. You can set a holonomic rotation here. If using a differential drivetrain, the rotation will have no effect.
Expand All @@ -52,19 +53,19 @@ path.preventFlipping = true;
using namespace pathplanner;


// Create a vector of bezier points from poses. Each pose represents one waypoint.
// Create a vector of waypoints from poses. Each pose represents one waypoint.
// The rotation component of the pose should be the direction of travel. Do not use holonomic rotation.
std::vector<frc::Pose2d> poses{
frc::Pose2d(1.0_m, 1.0_m, frc::Rotation2d(0_deg)),
frc::Pose2d(3.0_m, 1.0_m, frc::Rotation2d(0_deg)),
frc::Pose2d(5.0_m, 3.0_m, frc::Rotation2d(90_deg))
};
std::vector<frc::Translation2d> bezierPoints = PathPlannerPath::bezierFromPoses(poses);
std::vector<Waypoint> waypoints = PathPlannerPath::waypointsFromPoses(poses);

// Create the path using the bezier points created above
// Create the path using the waypoints created above
// We make a shared pointer here since the path following commands require a shared pointer
auto path = std::make_shared<PathPlannerPath>(
bezierPoints,
waypoints,
PathConstraints(3.0_mps, 3.0_mps_sq, 360_deg_per_s, 720_deg_per_s_sq), // The constraints for this path. If using a differential drivetrain, the angular constraints have no effect.
std::nullopt, // The ideal starting state, this is only relevant for pre-planned paths, so can be nullopt for on-the-fly paths.
GoalEndState(0.0_mps, frc::Rotation2d(-90_deg)) // Goal end state. You can set a holonomic rotation here. If using a differential drivetrain, the rotation will have no effect.
Expand All @@ -82,17 +83,17 @@ from pathplannerlib.path import PathPlannerPath, PathConstraints, GoalEndState
from wpimath.geometry import Pose2d, Rotation2d
import math

# Create a list of bezier points from poses. Each pose represents one waypoint.
# Create a list of waypoints from poses. Each pose represents one waypoint.
# The rotation component of the pose should be the direction of travel. Do not use holonomic rotation.
bezierPoints = PathPlannerPath.bezierFromPoses(
waypoints = PathPlannerPath.waypointsFromPoses(
Pose2d(1.0, 1.0, Rotation2d.fromDegrees(0)),
Pose2d(3.0, 1.0, Rotation2d.fromDegrees(0)),
Pose2d(5.0, 3.0, Rotation2d.fromDegrees(90))
)

# Create the path using the bezier points created above
# Create the path using the waypoints created above
path = new PathPlannerPath(
bezierPoints,
waypoints,
PathConstraints(3.0, 3.0, 2 * math.pi, 4 * math.pi), # The constraints for this path. If using a differential drivetrain, the angular constraints have no effect.
None, # The ideal starting state, this is only relevant for pre-planned paths, so can be None for on-the-fly paths.
GoalEndState(0.0, Rotation2d.fromDegrees(-90)) # Goal end state. You can set a holonomic rotation here. If using a differential drivetrain, the rotation will have no effect.
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