v0.2.1

[zachwaffle4]

This release focuses on Trajectory Markers.

What's Changed

• RobotState contains a pose: Pose2d, vel: PoseVelocity2d, and accel: Acceleration2d object
  • This takes the place of Pose2dDual<Time> in the VelConstraint and AccelConstraint functional interfaces, and will be used in the future to prevent unnecessary dual number exposure
• MarkerTrigger functional interface: (RobotState, Trajectory, Double) -> Boolean
  • The Double value represents the robot's displacement along the trajectory
• MarkerCallback functional interface: () -> Unit (equivalent to Runnable)
• Marker class includes a trigger and callback
  • Implementations for AfterDispMarker, AfterTimeMarker, AtPointMarker, and AtPoseMarker are provided; see KDoc for details
• TrajectoryWithMarkers<Param> class simply wraps a Trajectory<Param> to include a List<Marker>
• TrajectoryBuilder now has functions to add markers, including to add the specified implementations; see KDoc for details
• TrajectoryBuilder build methods are changed:
  • build() now returns a TrajectoryWithMarkers<Arclength> object (no longer equivalent to buildToList())
  • buildToList() still returns a list of CancelableTrajectory objects (no change)
  • buildToComposite() now returns a CompositeCancelableTrajectory, allowing for cancelation at any displacement
    • the trajectory property of the build() return value is this object
    • later versions will include info for Followers to cancel the trajectory
• Follower interface mandates a TrajectoryWithMarkers object
  • constructors that accept regular trajectories will still work

Full Changelog: v0.2.0...v0.2.1

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This discussion was created from the release v0.2.1.