feat: add distance-based sampling to PathPlannerTrajectory#1169
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JosephTLockwood wants to merge 1 commit into
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feat: add distance-based sampling to PathPlannerTrajectory#1169JosephTLockwood wants to merge 1 commit into
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Adds: - PathPlannerTrajectoryState.distanceAlongPath: cumulative arc length from the trajectory start, populated automatically in both constructors and preserved through interpolate/flip/reverse/copy. - PathPlannerTrajectory.sampleByDistance(double): query the trajectory by arc length instead of elapsed time. Useful for projection-based path following where progress is tracked from odometry rather than a timer. - PathPlannerTrajectory.getTotalArcLength(): total chord-summed length. Purely additive -- no existing behavior changes. 11 new unit tests cover population, monotonicity, clamping, interpolation, agreement with sample(time), and preservation through flip/copy.
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #1169 +/- ##
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- Coverage 84.59% 84.58% -0.02%
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Files 95 95
Lines 9750 9750
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- Hits 8248 8247 -1
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This was referenced May 17, 2026
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Summary
Adds a way to query
PathPlannerTrajectoryby arc length instead of elapsed time. Purely additive -- no existing behavior changes.PathPlannerTrajectoryState.distanceAlongPath-- cumulative arc length from trajectory start. Populated in both constructors; preserved throughinterpolate,flip,reverse,copyWithTime.PathPlannerTrajectory.sampleByDistance(double)-- binary search ondistanceAlongPath, then lerp via existinginterpolate. Mirrorssample(double time)'s structure.PathPlannerTrajectory.getTotalArcLength()-- chord-summed total.Why
Projection-based path followers track progress from odometry rather than a timer. This lets the follower query "where should I be at arc length s?" without converting s->t. Useful when the robot is held up (obstacle, disturbance) and a time-based reference would race ahead, or when cross-track error is measured perpendicular to tangent at the robot's actual progress.
Test plan
PathPlannerTrajectoryTest.java(population, monotonicity, clamping, interpolation, agreement withsample(time)on straight + arc, preservation through flip/copy)spotlessJavaCheckclean