diff --git a/docs/cpp/ADStar_8h_source.html b/docs/cpp/ADStar_8h_source.html new file mode 100644 index 00000000..52372a5c --- /dev/null +++ b/docs/cpp/ADStar_8h_source.html @@ -0,0 +1,280 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/pathfinding/ADStar.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
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+
ADStar.h
+
+
+
1#pragma once
+
2
+
3#include <unordered_map>
+
4#include <unordered_set>
+
5#include <vector>
+
6#include <atomic>
+
7#include <thread>
+
8#include <mutex>
+
9#include <frc/geometry/Translation2d.h>
+
10#include <optional>
+
11
+
12namespace pathplanner {
+
13class ADStar {
+
14public:
+
15 static void ensureInitialized();
+
16
+
17 static inline bool isNewPathAvailable() {
+
18 return newPathAvailable;
+
19 }
+
20
+
21 static std::vector<frc::Translation2d> getCurrentPath();
+
22
+
23 static void setStartPos(const frc::Translation2d &start);
+
24
+
25 static void setGoalPos(const frc::Translation2d &goal);
+
26
+
27 static void setDynamicObstacles(
+
28 const std::vector<std::pair<frc::Translation2d, frc::Translation2d>> &obs,
+
29 const frc::Translation2d &currentRobotPos);
+
30
+
31 class GridPosition {
+
32 public:
+
33 int x;
+
34 int y;
+
35
+
36 constexpr GridPosition() : x(0), y(0) {
+
37 }
+
38
+
39 constexpr GridPosition(const int xPos, const int yPos) : x(xPos), y(
+
40 yPos) {
+
41 }
+
42
+
43 constexpr bool operator==(const GridPosition &other) const {
+
44 return x == other.x && y == other.y;
+
45 }
+
46 };
+
47
+
48 static inline GridPosition getGridPos(const frc::Translation2d &pos) {
+
49 return GridPosition(static_cast<int>(std::floor(pos.X()() / NODE_SIZE)),
+
50 static_cast<int>(std::floor(pos.Y()() / NODE_SIZE)));
+
51 }
+
52
+
53private:
+
54 static const double SMOOTHING_ANCHOR_PCT;
+
55 static const double SMOOTHING_CONTROL_PCT;
+
56
+
57 static double FIELD_LENGTH;
+
58 static double FIELD_WIDTH;
+
59
+
60 static double NODE_SIZE;
+
61
+
62 static int NODE_X;
+
63 static int NODE_Y;
+
64
+
65 static const double EPS;
+
66
+
67 static std::unordered_map<GridPosition, double> g;
+
68 static std::unordered_map<GridPosition, double> rhs;
+
69 static std::unordered_map<GridPosition, std::pair<double, double>> open;
+
70 static std::unordered_map<GridPosition, std::pair<double, double>> incons;
+
71 static std::unordered_set<GridPosition> closed;
+
72 static std::unordered_set<GridPosition> staticObstacles;
+
73 static std::unordered_set<GridPosition> dynamicObstacles;
+
74 static std::unordered_set<GridPosition> obstacles;
+
75
+
76 static GridPosition sStart;
+
77 static frc::Translation2d realStartPos;
+
78 static GridPosition sGoal;
+
79 static frc::Translation2d realGoalPos;
+
80
+
81 static double eps;
+
82
+
83 static std::thread planningThread;
+
84 static std::mutex mutex;
+
85
+
86 static bool doMinor;
+
87 static bool doMajor;
+
88 static bool needsReset;
+
89 static bool needsExtract;
+
90 static bool running;
+
91 static bool newPathAvailable;
+
92
+
93 static std::vector<frc::Translation2d> currentPath;
+
94
+
95 static void runThread();
+
96
+
97 static void doWork();
+
98
+
99 static GridPosition findClosestNonObstacle(const GridPosition &pos);
+
100
+
101 static std::vector<frc::Translation2d> extractPath();
+
102
+
103 static bool walkable(const GridPosition &s1, const GridPosition &s2);
+
104
+
105 static void reset();
+
106
+
107 static void computeOrImprovePath();
+
108
+
109 static void updateState(const GridPosition &s);
+
110
+
111 static inline double cost(const GridPosition &sStart,
+
112 const GridPosition &sGoal) {
+
113 if (isCollision(sStart, sGoal)) {
+
114 return std::numeric_limits<double>::infinity();
+
115 }
+
116 return heuristic(sStart, sGoal);
+
117 }
+
118
+
119 static bool isCollision(const GridPosition &sStart,
+
120 const GridPosition &sEnd);
+
121
+
122 static std::unordered_set<GridPosition> getOpenNeighbors(
+
123 const GridPosition &s);
+
124
+
125 static std::unordered_set<GridPosition> getAllNeighbors(
+
126 const GridPosition &s);
+
127
+
128 static std::pair<double, double> key(const GridPosition &s);
+
129
+
130 static std::optional<std::pair<GridPosition, std::pair<double, double>>> topKey();
+
131
+
132 static inline double heuristic(const GridPosition &sStart,
+
133 const GridPosition &sGoal) {
+
134 return std::hypot(sGoal.x - sStart.x, sGoal.y - sStart.y);
+
135 }
+
136
+
137 static constexpr int comparePair(const std::pair<double, double> &a,
+
138 const std::pair<double, double> &b) {
+
139 int first = compareDouble(a.first, b.first);
+
140 if (first == 0) {
+
141 return compareDouble(a.second, b.second);
+
142 } else {
+
143 return first;
+
144 }
+
145 }
+
146
+
147 static constexpr int compareDouble(const double a, const double b) {
+
148 if (a < b) {
+
149 return -1;
+
150 } else if (a > b) {
+
151 return 1;
+
152 }
+
153 return 0;
+
154 }
+
155
+
156 static inline frc::Translation2d gridPosToTranslation2d(
+
157 const GridPosition &pos) {
+
158 return frc::Translation2d(
+
159 units::meter_t { (pos.x * NODE_SIZE) + (NODE_SIZE / 2.0) },
+
160 units::meter_t { (pos.y * NODE_SIZE) + (NODE_SIZE / 2.0) });
+
161 }
+
162};
+
163}
+
164
+
165namespace std {
+
166template<>
+
167struct hash<pathplanner::ADStar::GridPosition> {
+
168 size_t operator()(const pathplanner::ADStar::GridPosition &gridPos) const {
+
169 return ((hash<int>()(gridPos.x) ^ ((hash<int>()(gridPos.y) << 1) >> 1)));
+
170 }
+
171};
+
172}
+
pathplanner::ADStar::GridPosition
Definition: ADStar.h:31
+
pathplanner::ADStar
Definition: ADStar.h:13
+
+
+ + + + diff --git a/docs/cpp/AutoBuilder_8h_source.html b/docs/cpp/AutoBuilder_8h_source.html new file mode 100644 index 00000000..f3831878 --- /dev/null +++ b/docs/cpp/AutoBuilder_8h_source.html @@ -0,0 +1,215 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/auto/AutoBuilder.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
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+ +
+
AutoBuilder.h
+
+
+
1#pragma once
+
2
+
3#include <functional>
+
4#include <frc2/command/CommandPtr.h>
+
5#include <frc/geometry/Pose2d.h>
+
6#include <frc/kinematics/ChassisSpeeds.h>
+
7#include <frc/controller/RamseteController.h>
+
8#include <memory>
+
9#include <wpi/json.h>
+
10#include <wpi/array.h>
+
11#include <string>
+
12#include "pathplanner/lib/path/PathPlannerPath.h"
+
13#include "pathplanner/lib/util/HolonomicPathFollowerConfig.h"
+
14#include "pathplanner/lib/util/ReplanningConfig.h"
+
15
+
16namespace pathplanner {
+
17class AutoBuilder {
+
18public:
+
30 static void configureHolonomic(std::function<frc::Pose2d()> poseSupplier,
+
31 std::function<void(frc::Pose2d)> resetPose,
+
32 std::function<frc::ChassisSpeeds()> robotRelativeSpeedsSupplier,
+
33 std::function<void(frc::ChassisSpeeds)> robotRelativeOutput,
+
34 HolonomicPathFollowerConfig config,
+
35 frc2::Subsystem *driveSubsystem);
+
36
+
47 static void configureRamsete(std::function<frc::Pose2d()> poseSupplier,
+
48 std::function<void(frc::Pose2d)> resetPose,
+
49 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
50 std::function<void(frc::ChassisSpeeds)> output,
+
51 ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem);
+
52
+
67 static void configureRamsete(std::function<frc::Pose2d()> poseSupplier,
+
68 std::function<void(frc::Pose2d)> resetPose,
+
69 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
70 std::function<void(frc::ChassisSpeeds)> output,
+
71 units::unit_t<frc::RamseteController::b_unit> b,
+
72 units::unit_t<frc::RamseteController::zeta_unit> zeta,
+
73 ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem);
+
74
+
89 static void configureLTV(std::function<frc::Pose2d()> poseSupplier,
+
90 std::function<void(frc::Pose2d)> resetPose,
+
91 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
92 std::function<void(frc::ChassisSpeeds)> output,
+
93 const wpi::array<double, 3> &Qelms,
+
94 const wpi::array<double, 2> &Relms, units::second_t dt,
+
95 ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem);
+
96
+
109 static void configureLTV(std::function<frc::Pose2d()> poseSupplier,
+
110 std::function<void(frc::Pose2d)> resetPose,
+
111 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
112 std::function<void(frc::ChassisSpeeds)> output, units::second_t dt,
+
113 ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem);
+
114
+
122 static void configureCustom(
+
123 std::function<frc2::CommandPtr(std::shared_ptr<PathPlannerPath>)> pathFollowingCommandBuilder,
+
124 std::function<frc::Pose2d()> poseSupplier,
+
125 std::function<void(frc::Pose2d)> resetPose);
+
126
+
132 static inline bool isConfigured() {
+
133 return m_configured;
+
134 }
+
135
+
142 static frc2::CommandPtr followPathWithEvents(
+
143 std::shared_ptr<PathPlannerPath> path);
+
144
+
151 static frc2::CommandPtr buildAuto(std::string autoName);
+
152
+
159 static frc2::CommandPtr getAutoCommandFromJson(const wpi::json &json);
+
160
+
161 static frc::Pose2d getStartingPoseFromJson(const wpi::json &json);
+
162
+
174 static frc2::CommandPtr pathfindToPose(frc::Pose2d pose,
+
175 PathConstraints constraints, units::meters_per_second_t goalEndVel =
+
176 0_mps, units::meter_t rotationDelayDistance = 0_m);
+
177
+
188 static frc2::CommandPtr pathfindThenFollowPath(
+
189 std::shared_ptr<PathPlannerPath> goalPath,
+
190 PathConstraints pathfindingConstraints,
+
191 units::meter_t rotationDelayDistance = 0_m);
+
192
+
193private:
+
194 static bool m_configured;
+
195 static std::function<frc2::CommandPtr(std::shared_ptr<PathPlannerPath>)> m_pathFollowingCommandBuilder;
+
196 static std::function<frc::Pose2d()> m_getPose;
+
197 static std::function<void(frc::Pose2d)> m_resetPose;
+
198
+
199 static bool m_pathfindingConfigured;
+
200 static std::function<
+
201 frc2::CommandPtr(frc::Pose2d, PathConstraints,
+
202 units::meters_per_second_t, units::meter_t)> m_pathfindToPoseCommandBuilder;
+
203 static std::function<
+
204 frc2::CommandPtr(std::shared_ptr<PathPlannerPath>, PathConstraints,
+
205 units::meter_t)> m_pathfindThenFollowPathCommandBuilder;
+
206};
+
207}
+
pathplanner::AutoBuilder
Definition: AutoBuilder.h:17
+
pathplanner::AutoBuilder::followPathWithEvents
static frc2::CommandPtr followPathWithEvents(std::shared_ptr< PathPlannerPath > path)
Definition: AutoBuilder.cpp:254
+
pathplanner::AutoBuilder::configureRamsete
static void configureRamsete(std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)
Definition: AutoBuilder.cpp:74
+
pathplanner::AutoBuilder::configureHolonomic
static void configureHolonomic(std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> robotRelativeSpeedsSupplier, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, HolonomicPathFollowerConfig config, frc2::Subsystem *driveSubsystem)
Definition: AutoBuilder.cpp:33
+
pathplanner::AutoBuilder::getAutoCommandFromJson
static frc2::CommandPtr getAutoCommandFromJson(const wpi::json &json)
Definition: AutoBuilder.cpp:282
+
pathplanner::AutoBuilder::pathfindToPose
static frc2::CommandPtr pathfindToPose(frc::Pose2d pose, PathConstraints constraints, units::meters_per_second_t goalEndVel=0_mps, units::meter_t rotationDelayDistance=0_m)
Definition: AutoBuilder.cpp:306
+
pathplanner::AutoBuilder::configureCustom
static void configureCustom(std::function< frc2::CommandPtr(std::shared_ptr< PathPlannerPath >)> pathFollowingCommandBuilder, std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose)
Definition: AutoBuilder.cpp:237
+
pathplanner::AutoBuilder::buildAuto
static frc2::CommandPtr buildAuto(std::string autoName)
Definition: AutoBuilder.cpp:265
+
pathplanner::AutoBuilder::isConfigured
static bool isConfigured()
Definition: AutoBuilder.h:132
+
pathplanner::AutoBuilder::pathfindThenFollowPath
static frc2::CommandPtr pathfindThenFollowPath(std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, units::meter_t rotationDelayDistance=0_m)
Definition: AutoBuilder.cpp:318
+
pathplanner::AutoBuilder::configureLTV
static void configureLTV(std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, const wpi::array< double, 3 > &Qelms, const wpi::array< double, 2 > &Relms, units::second_t dt, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)
Definition: AutoBuilder.cpp:156
+
pathplanner::HolonomicPathFollowerConfig
Definition: HolonomicPathFollowerConfig.h:10
+
pathplanner::PathConstraints
Definition: PathConstraints.h:10
+
pathplanner::ReplanningConfig
Definition: ReplanningConfig.h:6
+
+
+ + + + diff --git a/docs/cpp/ChassisSpeedsRateLimiter_8h_source.html b/docs/cpp/ChassisSpeedsRateLimiter_8h_source.html new file mode 100644 index 00000000..74dde934 --- /dev/null +++ b/docs/cpp/ChassisSpeedsRateLimiter_8h_source.html @@ -0,0 +1,180 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/util/ChassisSpeedsRateLimiter.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
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+
ChassisSpeedsRateLimiter.h
+
+
+
1#pragma once
+
2
+
3#include <units/time.h>
+
4#include <units/velocity.h>
+
5#include <units/acceleration.h>
+
6#include <units/angular_velocity.h>
+
7#include <units/angular_acceleration.h>
+
8#include <frc/kinematics/ChassisSpeeds.h>
+
9
+
10namespace pathplanner {
+
17class ChassisSpeedsRateLimiter {
+
18public:
+
26 ChassisSpeedsRateLimiter(
+
27 units::meters_per_second_squared_t translationRateLimit,
+
28 units::radians_per_second_squared_t rotationRateLimit,
+
29 frc::ChassisSpeeds initialValue = frc::ChassisSpeeds { }) : m_translationRateLimit(
+
30 translationRateLimit), m_rotationRateLimit(rotationRateLimit) {
+
31 reset(initialValue);
+
32 }
+
33
+
39 void reset(frc::ChassisSpeeds value);
+
40
+
47 constexpr void setRateLimits(
+
48 units::meters_per_second_squared_t translationRateLimit,
+
49 units::radians_per_second_squared_t rotationRateLimit) {
+
50 m_translationRateLimit = translationRateLimit;
+
51 m_rotationRateLimit = rotationRateLimit;
+
52 }
+
53
+
60 frc::ChassisSpeeds calculate(const frc::ChassisSpeeds &input);
+
61
+
62private:
+
63 units::meters_per_second_squared_t m_translationRateLimit;
+
64 units::radians_per_second_squared_t m_rotationRateLimit;
+
65
+
66 frc::ChassisSpeeds m_prevVal;
+
67 units::second_t m_prevTime;
+
68
+
69 class Vector2 {
+
70 public:
+
71 const units::meters_per_second_t x;
+
72 const units::meters_per_second_t y;
+
73
+
74 constexpr Vector2(units::meters_per_second_t xVel,
+
75 units::meters_per_second_t yVel) : x(xVel), y(yVel) {
+
76 }
+
77
+
78 constexpr units::meters_per_second_t norm() const {
+
79 return units::meters_per_second_t(std::sqrt((x * x)() + (y * y)()));
+
80 }
+
81
+
82 constexpr Vector2 operator+(const Vector2 &other) const {
+
83 return Vector2(x + other.x, y + other.y);
+
84 }
+
85
+
86 constexpr Vector2 operator-(const Vector2 &other) const {
+
87 return Vector2(x - other.x, y - other.y);
+
88 }
+
89
+
90 constexpr Vector2 operator*(const double d) const {
+
91 return Vector2(x * d, y * d);
+
92 }
+
93
+
94 constexpr Vector2 operator/(const double d) const {
+
95 return Vector2(x / d, y / d);
+
96 }
+
97 };
+
98};
+
99}
+
pathplanner::ChassisSpeedsRateLimiter
Definition: ChassisSpeedsRateLimiter.h:17
+
pathplanner::ChassisSpeedsRateLimiter::ChassisSpeedsRateLimiter
ChassisSpeedsRateLimiter(units::meters_per_second_squared_t translationRateLimit, units::radians_per_second_squared_t rotationRateLimit, frc::ChassisSpeeds initialValue=frc::ChassisSpeeds { })
Definition: ChassisSpeedsRateLimiter.h:26
+
pathplanner::ChassisSpeedsRateLimiter::setRateLimits
constexpr void setRateLimits(units::meters_per_second_squared_t translationRateLimit, units::radians_per_second_squared_t rotationRateLimit)
Definition: ChassisSpeedsRateLimiter.h:47
+
pathplanner::ChassisSpeedsRateLimiter::calculate
frc::ChassisSpeeds calculate(const frc::ChassisSpeeds &input)
Definition: ChassisSpeedsRateLimiter.cpp:12
+
pathplanner::ChassisSpeedsRateLimiter::reset
void reset(frc::ChassisSpeeds value)
Definition: ChassisSpeedsRateLimiter.cpp:7
+
+
+ + + + diff --git a/docs/cpp/CommandUtil_8h_source.html b/docs/cpp/CommandUtil_8h_source.html new file mode 100644 index 00000000..0e820dde --- /dev/null +++ b/docs/cpp/CommandUtil_8h_source.html @@ -0,0 +1,139 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/auto/CommandUtil.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
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+
CommandUtil.h
+
+
+
1#pragma once
+
2
+
3#include <wpi/json.h>
+
4#include <frc2/command/Command.h>
+
5#include <memory>
+
6
+
7namespace pathplanner {
+
8class CommandUtil {
+
9public:
+
17 static frc2::CommandPtr wrappedEventCommand(
+
18 std::shared_ptr<frc2::Command> command);
+
19
+
26 static frc2::CommandPtr commandFromJson(const wpi::json &json);
+
27
+
28private:
+
29 static frc2::CommandPtr waitCommandFromJson(const wpi::json &json);
+
30
+
31 static frc2::CommandPtr namedCommandFromJson(const wpi::json &json);
+
32
+
33 static frc2::CommandPtr pathCommandFromJson(const wpi::json &json);
+
34
+
35 static frc2::CommandPtr sequentialGroupFromJson(const wpi::json &json);
+
36
+
37 static frc2::CommandPtr parallelGroupFromJson(const wpi::json &json);
+
38
+
39 static frc2::CommandPtr raceGroupFromJson(const wpi::json &json);
+
40
+
41 static frc2::CommandPtr deadlineGroupFromJson(const wpi::json &json);
+
42};
+
43}
+
pathplanner::CommandUtil
Definition: CommandUtil.h:8
+
pathplanner::CommandUtil::wrappedEventCommand
static frc2::CommandPtr wrappedEventCommand(std::shared_ptr< frc2::Command > command)
Definition: CommandUtil.cpp:11
+
pathplanner::CommandUtil::commandFromJson
static frc2::CommandPtr commandFromJson(const wpi::json &json)
Definition: CommandUtil.cpp:31
+
+
+ + + + diff --git a/docs/cpp/ConstraintsZone_8h_source.html b/docs/cpp/ConstraintsZone_8h_source.html new file mode 100644 index 00000000..222d7eb5 --- /dev/null +++ b/docs/cpp/ConstraintsZone_8h_source.html @@ -0,0 +1,169 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/path/ConstraintsZone.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
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ConstraintsZone.h
+
+
+
1#pragma once
+
2
+
3#include "pathplanner/lib/path/PathConstraints.h"
+
4#include <wpi/json.h>
+
5
+
6namespace pathplanner {
+
7class ConstraintsZone {
+
8public:
+
16 constexpr ConstraintsZone(double minWaypointRelativePos,
+
17 double maxWaypointRelativePos, PathConstraints constraints) : m_minPos(
+
18 minWaypointRelativePos), m_maxPos(maxWaypointRelativePos), m_constraints(
+
19 constraints) {
+
20 }
+
21
+
28 static ConstraintsZone fromJson(const wpi::json &json);
+
29
+
35 constexpr double getMinWaypointRelativePos() const {
+
36 return m_minPos;
+
37 }
+
38
+
44 constexpr double getMaxWaypointRelativePos() const {
+
45 return m_maxPos;
+
46 }
+
47
+
53 constexpr const PathConstraints& getConstraints() const {
+
54 return m_constraints;
+
55 }
+
56
+
63 constexpr bool isWithinZone(double t) const {
+
64 return t >= m_minPos && t <= m_maxPos;
+
65 }
+
66
+
74 constexpr bool overlapsRange(double minPos, double maxPos) const {
+
75 return std::max(minPos, m_minPos) <= std::min(maxPos, m_maxPos);
+
76 }
+
77
+
86 constexpr ConstraintsZone forSegmentIndex(int segmentIndex) const {
+
87 return ConstraintsZone(m_minPos - segmentIndex, m_maxPos - segmentIndex,
+
88 m_constraints);
+
89 }
+
90
+
91 inline bool operator==(const ConstraintsZone &other) const {
+
92 return std::abs(m_minPos - other.m_minPos) < 1E-9
+
93 && std::abs(m_maxPos - other.m_maxPos) < 1E-9
+
94 && m_constraints == other.m_constraints;
+
95 }
+
96
+
97private:
+
98 double m_minPos;
+
99 double m_maxPos;
+
100 PathConstraints m_constraints;
+
101};
+
102}
+
pathplanner::ConstraintsZone
Definition: ConstraintsZone.h:7
+
pathplanner::ConstraintsZone::getMinWaypointRelativePos
constexpr double getMinWaypointRelativePos() const
Definition: ConstraintsZone.h:35
+
pathplanner::ConstraintsZone::ConstraintsZone
constexpr ConstraintsZone(double minWaypointRelativePos, double maxWaypointRelativePos, PathConstraints constraints)
Definition: ConstraintsZone.h:16
+
pathplanner::ConstraintsZone::overlapsRange
constexpr bool overlapsRange(double minPos, double maxPos) const
Definition: ConstraintsZone.h:74
+
pathplanner::ConstraintsZone::fromJson
static ConstraintsZone fromJson(const wpi::json &json)
Definition: ConstraintsZone.cpp:6
+
pathplanner::ConstraintsZone::getConstraints
constexpr const PathConstraints & getConstraints() const
Definition: ConstraintsZone.h:53
+
pathplanner::ConstraintsZone::forSegmentIndex
constexpr ConstraintsZone forSegmentIndex(int segmentIndex) const
Definition: ConstraintsZone.h:86
+
pathplanner::ConstraintsZone::getMaxWaypointRelativePos
constexpr double getMaxWaypointRelativePos() const
Definition: ConstraintsZone.h:44
+
pathplanner::ConstraintsZone::isWithinZone
constexpr bool isWithinZone(double t) const
Definition: ConstraintsZone.h:63
+
pathplanner::PathConstraints
Definition: PathConstraints.h:10
+
+
+ + + + diff --git a/docs/cpp/EventMarker_8h_source.html b/docs/cpp/EventMarker_8h_source.html new file mode 100644 index 00000000..c99ee59e --- /dev/null +++ b/docs/cpp/EventMarker_8h_source.html @@ -0,0 +1,174 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/path/EventMarker.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ +
+
EventMarker.h
+
+
+
1#pragma once
+
2
+
3#include <frc2/command/Commands.h>
+
4#include <frc/geometry/Translation2d.h>
+
5#include <frc/geometry/Pose2d.h>
+
6#include <units/length.h>
+
7#include <memory>
+
8#include <wpi/json.h>
+
9
+
10namespace pathplanner {
+
11class EventMarker {
+
12public:
+
21 EventMarker(double waypointRelativePos, frc2::CommandPtr &&command,
+
22 units::meter_t minimumTriggerDistance = 0.5_m) : m_pos(
+
23 waypointRelativePos), m_command(std::move(command).Unwrap()), m_minTriggerDistance(
+
24 minimumTriggerDistance) {
+
25 }
+
26
+
35 EventMarker(double waypointRelativePos,
+
36 std::shared_ptr<frc2::Command> command,
+
37 units::meter_t minimumTriggerDistance = 0.5_m) : m_pos(
+
38 waypointRelativePos), m_command(command), m_minTriggerDistance(
+
39 minimumTriggerDistance) {
+
40 }
+
41
+
48 static EventMarker fromJson(const wpi::json &json);
+
49
+
55 constexpr void reset(frc::Pose2d robotPose) {
+
56 m_lastRobotPos = robotPose.Translation();
+
57 }
+
58
+
65 bool shouldTrigger(frc::Pose2d robotPose);
+
66
+
72 std::shared_ptr<frc2::Command> getCommand() const {
+
73 return m_command;
+
74 }
+
75
+
81 constexpr double getWaypointRelativePos() const {
+
82 return m_pos;
+
83 }
+
84
+
91 constexpr void setMarkerPosition(frc::Translation2d fieldPosition) {
+
92 m_markerPos = fieldPosition;
+
93 }
+
94
+
100 constexpr units::meter_t getMinimumTriggerDistance() const {
+
101 return m_minTriggerDistance;
+
102 }
+
103
+
104private:
+
105 double m_pos;
+
106 std::shared_ptr<frc2::Command> m_command;
+
107 units::meter_t m_minTriggerDistance;
+
108
+
109 frc::Translation2d m_markerPos;
+
110 frc::Translation2d m_lastRobotPos;
+
111};
+
112}
+
pathplanner::EventMarker
Definition: EventMarker.h:11
+
pathplanner::EventMarker::shouldTrigger
bool shouldTrigger(frc::Pose2d robotPose)
Definition: EventMarker.cpp:11
+
pathplanner::EventMarker::EventMarker
EventMarker(double waypointRelativePos, frc2::CommandPtr &&command, units::meter_t minimumTriggerDistance=0.5_m)
Definition: EventMarker.h:21
+
pathplanner::EventMarker::setMarkerPosition
constexpr void setMarkerPosition(frc::Translation2d fieldPosition)
Definition: EventMarker.h:91
+
pathplanner::EventMarker::getCommand
std::shared_ptr< frc2::Command > getCommand() const
Definition: EventMarker.h:72
+
pathplanner::EventMarker::fromJson
static EventMarker fromJson(const wpi::json &json)
Definition: EventMarker.cpp:6
+
pathplanner::EventMarker::getWaypointRelativePos
constexpr double getWaypointRelativePos() const
Definition: EventMarker.h:81
+
pathplanner::EventMarker::getMinimumTriggerDistance
constexpr units::meter_t getMinimumTriggerDistance() const
Definition: EventMarker.h:100
+
pathplanner::EventMarker::EventMarker
EventMarker(double waypointRelativePos, std::shared_ptr< frc2::Command > command, units::meter_t minimumTriggerDistance=0.5_m)
Definition: EventMarker.h:35
+
pathplanner::EventMarker::reset
constexpr void reset(frc::Pose2d robotPose)
Definition: EventMarker.h:55
+
+
+ + + + diff --git a/docs/cpp/FollowPathCommand_8h_source.html b/docs/cpp/FollowPathCommand_8h_source.html new file mode 100644 index 00000000..19ef033b --- /dev/null +++ b/docs/cpp/FollowPathCommand_8h_source.html @@ -0,0 +1,168 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/FollowPathCommand.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ +
+
FollowPathCommand.h
+
+
+
1#pragma once
+
2
+
3#include <frc2/command/Command.h>
+
4#include <frc2/command/CommandHelper.h>
+
5#include <frc2/command/Requirements.h>
+
6#include <memory>
+
7#include <functional>
+
8#include <frc/geometry/Pose2d.h>
+
9#include <frc/kinematics/ChassisSpeeds.h>
+
10#include <frc/Timer.h>
+
11#include <units/velocity.h>
+
12#include <units/length.h>
+
13#include <units/time.h>
+
14#include "pathplanner/lib/path/PathPlannerPath.h"
+
15#include "pathplanner/lib/path/PathPlannerTrajectory.h"
+
16#include "pathplanner/lib/controllers/PathFollowingController.h"
+
17#include "pathplanner/lib/util/ReplanningConfig.h"
+
18#include "pathplanner/lib/util/PathPlannerLogging.h"
+
19#include "pathplanner/lib/util/PPLibTelemetry.h"
+
20
+
21namespace pathplanner {
+
22class FollowPathCommand: public frc2::CommandHelper<frc2::Command,
+
23 FollowPathCommand> {
+
24public:
+
37 FollowPathCommand(std::shared_ptr<PathPlannerPath> path,
+
38 std::function<frc::Pose2d()> poseSupplier,
+
39 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
40 std::function<void(frc::ChassisSpeeds)> output,
+
41 std::unique_ptr<PathFollowingController> controller,
+
42 ReplanningConfig replanningConfig, frc2::Requirements requirements);
+
43
+
44 void Initialize() override;
+
45
+
46 void Execute() override;
+
47
+
48 bool IsFinished() override;
+
49
+
50 void End(bool interrupted) override;
+
51
+
52private:
+
53 frc::Timer m_timer;
+
54 std::shared_ptr<PathPlannerPath> m_path;
+
55 std::function<frc::Pose2d()> m_poseSupplier;
+
56 std::function<frc::ChassisSpeeds()> m_speedsSupplier;
+
57 std::function<void(frc::ChassisSpeeds)> m_output;
+
58 std::unique_ptr<PathFollowingController> m_controller;
+
59 ReplanningConfig m_replanningConfig;
+
60
+
61 PathPlannerTrajectory m_generatedTrajectory;
+
62
+
63 inline void replanPath(const frc::Pose2d &currentPose,
+
64 const frc::ChassisSpeeds &currentSpeeds) {
+
65 auto replanned = m_path->replan(currentPose, currentSpeeds);
+
66 m_generatedTrajectory = PathPlannerTrajectory(replanned, currentSpeeds);
+
67 PathPlannerLogging::logActivePath(replanned);
+
68 PPLibTelemetry::setCurrentPath(replanned);
+
69 }
+
70};
+
71}
+
pathplanner::FollowPathCommand
Definition: FollowPathCommand.h:23
+
pathplanner::PathPlannerTrajectory
Definition: PathPlannerTrajectory.h:21
+
pathplanner::ReplanningConfig
Definition: ReplanningConfig.h:6
+
+
+ + + + diff --git a/docs/cpp/FollowPathHolonomic_8h_source.html b/docs/cpp/FollowPathHolonomic_8h_source.html new file mode 100644 index 00000000..e82e6556 --- /dev/null +++ b/docs/cpp/FollowPathHolonomic_8h_source.html @@ -0,0 +1,150 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/FollowPathHolonomic.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
+
+
+
+ +
+
FollowPathHolonomic.h
+
+
+
1#pragma once
+
2
+
3#include "pathplanner/lib/commands/FollowPathCommand.h"
+
4#include "pathplanner/lib/controllers/PPHolonomicDriveController.h"
+
5#include "pathplanner/lib/util/PIDConstants.h"
+
6#include "pathplanner/lib/util/HolonomicPathFollowerConfig.h"
+
7
+
8namespace pathplanner {
+
9class FollowPathHolonomic: public FollowPathCommand {
+
10public:
+
30 FollowPathHolonomic(std::shared_ptr<PathPlannerPath> path,
+
31 std::function<frc::Pose2d()> poseSupplier,
+
32 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
33 std::function<void(frc::ChassisSpeeds)> output,
+
34 PIDConstants translationConstants, PIDConstants rotationConstants,
+
35 units::meters_per_second_t maxModuleSpeed,
+
36 units::meter_t driveBaseRadius, ReplanningConfig replanningConfig,
+
37 frc2::Requirements requirements, units::second_t period = 0.02_s) : FollowPathCommand(
+
38 path, poseSupplier, speedsSupplier, output,
+
39 std::make_unique < PPHolonomicDriveController
+
40 > (translationConstants, rotationConstants, maxModuleSpeed, driveBaseRadius, period),
+
41 replanningConfig, requirements) {
+
42 }
+
43
+
56 FollowPathHolonomic(std::shared_ptr<PathPlannerPath> path,
+
57 std::function<frc::Pose2d()> poseSupplier,
+
58 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
59 std::function<void(frc::ChassisSpeeds)> output,
+
60 HolonomicPathFollowerConfig config, frc2::Requirements requirements) : FollowPathHolonomic(
+
61 path, poseSupplier, speedsSupplier, output,
+
62 config.translationConstants, config.rotationConstants,
+
63 config.maxModuleSpeed, config.driveBaseRadius,
+
64 config.replanningConfig, requirements, config.period) {
+
65 }
+
66};
+
67}
+
pathplanner::FollowPathCommand
Definition: FollowPathCommand.h:23
+
pathplanner::FollowPathHolonomic
Definition: FollowPathHolonomic.h:9
+
pathplanner::FollowPathHolonomic::FollowPathHolonomic
FollowPathHolonomic(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, HolonomicPathFollowerConfig config, frc2::Requirements requirements)
Definition: FollowPathHolonomic.h:56
+
pathplanner::FollowPathHolonomic::FollowPathHolonomic
FollowPathHolonomic(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, PIDConstants translationConstants, PIDConstants rotationConstants, units::meters_per_second_t maxModuleSpeed, units::meter_t driveBaseRadius, ReplanningConfig replanningConfig, frc2::Requirements requirements, units::second_t period=0.02_s)
Definition: FollowPathHolonomic.h:30
+
pathplanner::HolonomicPathFollowerConfig
Definition: HolonomicPathFollowerConfig.h:10
+
pathplanner::PIDConstants
Definition: PIDConstants.h:4
+
pathplanner::PPHolonomicDriveController
Definition: PPHolonomicDriveController.h:20
+
pathplanner::ReplanningConfig
Definition: ReplanningConfig.h:6
+
+
+ + + + diff --git a/docs/cpp/FollowPathLTV_8h_source.html b/docs/cpp/FollowPathLTV_8h_source.html new file mode 100644 index 00000000..8ef6b887 --- /dev/null +++ b/docs/cpp/FollowPathLTV_8h_source.html @@ -0,0 +1,143 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/FollowPathLTV.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
+
+
+
+ +
+
FollowPathLTV.h
+
+
+
1#pragma once
+
2
+
3#include "pathplanner/lib/commands/FollowPathCommand.h"
+
4#include "pathplanner/lib/controllers/PPLTVController.h"
+
5
+
6namespace pathplanner {
+
7class FollowPathLTV: public FollowPathCommand {
+
8public:
+
23 FollowPathLTV(std::shared_ptr<PathPlannerPath> path,
+
24 std::function<frc::Pose2d()> poseSupplier,
+
25 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
26 std::function<void(frc::ChassisSpeeds)> output,
+
27 const wpi::array<double, 3> &Qelms,
+
28 const wpi::array<double, 2> &Relms, units::second_t dt,
+
29 ReplanningConfig replanningConfig, frc2::Requirements requirements) : FollowPathCommand(
+
30 path, poseSupplier, speedsSupplier, output,
+
31 std::make_unique < PPLTVController > (Qelms, Relms, dt),
+
32 replanningConfig, requirements) {
+
33 }
+
34
+
47 FollowPathLTV(std::shared_ptr<PathPlannerPath> path,
+
48 std::function<frc::Pose2d()> poseSupplier,
+
49 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
50 std::function<void(frc::ChassisSpeeds)> output, units::second_t dt,
+
51 ReplanningConfig replanningConfig, frc2::Requirements requirements) : FollowPathCommand(
+
52 path, poseSupplier, speedsSupplier, output,
+
53 std::make_unique < PPLTVController > (dt), replanningConfig,
+
54 requirements) {
+
55 }
+
56};
+
57}
+
pathplanner::FollowPathCommand
Definition: FollowPathCommand.h:23
+
pathplanner::FollowPathLTV
Definition: FollowPathLTV.h:7
+
pathplanner::FollowPathLTV::FollowPathLTV
FollowPathLTV(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, const wpi::array< double, 3 > &Qelms, const wpi::array< double, 2 > &Relms, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)
Definition: FollowPathLTV.h:23
+
pathplanner::FollowPathLTV::FollowPathLTV
FollowPathLTV(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)
Definition: FollowPathLTV.h:47
+
pathplanner::PPLTVController
Definition: PPLTVController.h:8
+
pathplanner::ReplanningConfig
Definition: ReplanningConfig.h:6
+
+
+ + + + diff --git a/docs/cpp/FollowPathRamsete_8h_source.html b/docs/cpp/FollowPathRamsete_8h_source.html new file mode 100644 index 00000000..95685120 --- /dev/null +++ b/docs/cpp/FollowPathRamsete_8h_source.html @@ -0,0 +1,143 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/FollowPathRamsete.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
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+
+
+
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+
+
+
+ +
+
FollowPathRamsete.h
+
+
+
1#pragma once
+
2
+
3#include "pathplanner/lib/commands/FollowPathCommand.h"
+
4#include "pathplanner/lib/controllers/PPRamseteController.h"
+
5
+
6namespace pathplanner {
+
7class FollowPathRamsete: public FollowPathCommand {
+
8public:
+
24 FollowPathRamsete(std::shared_ptr<PathPlannerPath> path,
+
25 std::function<frc::Pose2d()> poseSupplier,
+
26 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
27 std::function<void(frc::ChassisSpeeds)> output,
+
28 units::unit_t<frc::RamseteController::b_unit> b,
+
29 units::unit_t<frc::RamseteController::zeta_unit> zeta,
+
30 ReplanningConfig replanningConfig, frc2::Requirements requirements) : FollowPathCommand(
+
31 path, poseSupplier, speedsSupplier, output,
+
32 std::make_unique < PPRamseteController > (b, zeta),
+
33 replanningConfig, requirements) {
+
34 }
+
35
+
47 FollowPathRamsete(std::shared_ptr<PathPlannerPath> path,
+
48 std::function<frc::Pose2d()> poseSupplier,
+
49 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
50 std::function<void(frc::ChassisSpeeds)> output,
+
51 ReplanningConfig replanningConfig, frc2::Requirements requirements) : FollowPathCommand(
+
52 path, poseSupplier, speedsSupplier, output,
+
53 std::make_unique<PPRamseteController>(), replanningConfig,
+
54 requirements) {
+
55 }
+
56};
+
57}
+
pathplanner::FollowPathCommand
Definition: FollowPathCommand.h:23
+
pathplanner::FollowPathRamsete
Definition: FollowPathRamsete.h:7
+
pathplanner::FollowPathRamsete::FollowPathRamsete
FollowPathRamsete(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, ReplanningConfig replanningConfig, frc2::Requirements requirements)
Definition: FollowPathRamsete.h:47
+
pathplanner::FollowPathRamsete::FollowPathRamsete
FollowPathRamsete(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, units::unit_t< frc::RamseteController::b_unit > b, units::unit_t< frc::RamseteController::zeta_unit > zeta, ReplanningConfig replanningConfig, frc2::Requirements requirements)
Definition: FollowPathRamsete.h:24
+
pathplanner::PPRamseteController
Definition: PPRamseteController.h:8
+
pathplanner::ReplanningConfig
Definition: ReplanningConfig.h:6
+
+
+ + + + diff --git a/docs/cpp/FollowPathWithEvents_8h_source.html b/docs/cpp/FollowPathWithEvents_8h_source.html new file mode 100644 index 00000000..ff34e566 --- /dev/null +++ b/docs/cpp/FollowPathWithEvents_8h_source.html @@ -0,0 +1,143 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/FollowPathWithEvents.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ +
+
FollowPathWithEvents.h
+
+
+
1#pragma once
+
2
+
3#include <frc2/command/Command.h>
+
4#include <frc2/command/CommandHelper.h>
+
5#include <memory>
+
6#include <vector>
+
7#include <functional>
+
8#include <frc/geometry/Pose2d.h>
+
9#include "pathplanner/lib/path/PathPlannerPath.h"
+
10
+
11namespace pathplanner {
+
12class FollowPathWithEvents: public frc2::CommandHelper<frc2::Command,
+
13 FollowPathWithEvents> {
+
14public:
+
22 FollowPathWithEvents(std::unique_ptr<frc2::Command> &&pathFollowingCommand,
+
23 std::shared_ptr<PathPlannerPath> path,
+
24 std::function<frc::Pose2d()> poseSupplier);
+
25
+
26 void Initialize() override;
+
27
+
28 void Execute() override;
+
29
+
30 bool IsFinished() override;
+
31
+
32 void End(bool interrupted) override;
+
33
+
34private:
+
35 std::unique_ptr<frc2::Command> m_pathFollowingCommand;
+
36 std::shared_ptr<PathPlannerPath> m_path;
+
37 std::function<frc::Pose2d()> m_poseSupplier;
+
38
+
39 std::vector<std::pair<std::shared_ptr<frc2::Command>, bool>> m_currentCommands;
+
40 std::vector<std::pair<EventMarker, bool>> m_markers;
+
41 bool m_isFinished;
+
42};
+
43}
+
pathplanner::FollowPathWithEvents
Definition: FollowPathWithEvents.h:13
+
+
+ + + + diff --git a/docs/cpp/GeometryUtil_8h_source.html b/docs/cpp/GeometryUtil_8h_source.html new file mode 100644 index 00000000..d3100811 --- /dev/null +++ b/docs/cpp/GeometryUtil_8h_source.html @@ -0,0 +1,214 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/util/GeometryUtil.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ +
+
GeometryUtil.h
+
+
+
1#pragma once
+
2
+
3#include <frc/geometry/Rotation2d.h>
+
4#include <frc/geometry/Translation2d.h>
+
5#include <units/time.h>
+
6#include <units/velocity.h>
+
7#include <units/acceleration.h>
+
8#include <units/length.h>
+
9#include <units/angle.h>
+
10#include <units/angular_velocity.h>
+
11#include <units/angular_acceleration.h>
+
12#include <units/math.h>
+
13#include <units/curvature.h>
+
14#include <math.h>
+
15
+
16#define PI 3.14159265358979323846
+
17
+
18namespace pathplanner {
+
19namespace GeometryUtil {
+
20constexpr units::second_t unitLerp(units::second_t const startVal,
+
21 units::second_t const endVal, double const t) {
+
22 return startVal + (endVal - startVal) * t;
+
23}
+
24
+
25constexpr units::meters_per_second_t unitLerp(
+
26 units::meters_per_second_t const startVal,
+
27 units::meters_per_second_t const endVal, double const t) {
+
28 return startVal + (endVal - startVal) * t;
+
29}
+
30
+
31constexpr units::meters_per_second_squared_t unitLerp(
+
32 units::meters_per_second_squared_t const startVal,
+
33 units::meters_per_second_squared_t const endVal, double const t) {
+
34 return startVal + (endVal - startVal) * t;
+
35}
+
36
+
37constexpr units::radians_per_second_t unitLerp(
+
38 units::radians_per_second_t const startVal,
+
39 units::radians_per_second_t const endVal, double const t) {
+
40 return startVal + (endVal - startVal) * t;
+
41}
+
42
+
43constexpr units::radians_per_second_squared_t unitLerp(
+
44 units::radians_per_second_squared_t const startVal,
+
45 units::radians_per_second_squared_t const endVal, double const t) {
+
46 return startVal + (endVal - startVal) * t;
+
47}
+
48
+
49constexpr units::meter_t unitLerp(units::meter_t const startVal,
+
50 units::meter_t const endVal, double const t) {
+
51 return startVal + (endVal - startVal) * t;
+
52}
+
53
+
54constexpr units::curvature_t unitLerp(units::curvature_t const startVal,
+
55 units::curvature_t const endVal, double const t) {
+
56 return startVal + (endVal - startVal) * t;
+
57}
+
58
+
59constexpr frc::Rotation2d rotationLerp(frc::Rotation2d const startVal,
+
60 frc::Rotation2d const endVal, double const t) {
+
61 return startVal + ((endVal - startVal) * t);
+
62}
+
63
+
64constexpr frc::Translation2d translationLerp(frc::Translation2d const startVal,
+
65 frc::Translation2d const endVal, double const t) {
+
66 return startVal + ((endVal - startVal) * t);
+
67}
+
68
+
69constexpr frc::Translation2d quadraticLerp(frc::Translation2d const a,
+
70 frc::Translation2d const b, frc::Translation2d const c,
+
71 double const t) {
+
72 frc::Translation2d const p0 = translationLerp(a, b, t);
+
73 frc::Translation2d const p1 = translationLerp(b, c, t);
+
74 return translationLerp(p0, p1, t);
+
75}
+
76
+
77constexpr frc::Translation2d cubicLerp(frc::Translation2d const a,
+
78 frc::Translation2d const b, frc::Translation2d const c,
+
79 frc::Translation2d const d, double const t) {
+
80 frc::Translation2d const p0 = quadraticLerp(a, b, c, t);
+
81 frc::Translation2d const p1 = quadraticLerp(b, c, d, t);
+
82 return translationLerp(p0, p1, t);
+
83}
+
84
+
85constexpr frc::Rotation2d cosineInterpolate(frc::Rotation2d const y1,
+
86 frc::Rotation2d const y2, double const mu) {
+
87 double const mu2 = (1 - frc::Rotation2d(units::radian_t { mu * PI }).Cos())
+
88 / 2;
+
89 return frc::Rotation2d(y1.Radians() * (1 - mu2) + y2.Radians() * mu2);
+
90}
+
91
+
92units::meter_t calculateRadius(const frc::Translation2d a,
+
93 const frc::Translation2d b, const frc::Translation2d c);
+
94
+
95inline units::degree_t modulo(units::degree_t const a,
+
96 units::degree_t const b) {
+
97 return a - (b * units::math::floor(a / b));
+
98}
+
99
+
100inline bool isFinite(units::meter_t const u) {
+
101 return std::isfinite(u());
+
102}
+
103
+
104inline bool isNaN(units::meter_t const u) {
+
105 return std::isnan(u());
+
106}
+
107}
+
108}
+
+
+ + + + diff --git a/docs/cpp/GoalEndState_8h_source.html b/docs/cpp/GoalEndState_8h_source.html new file mode 100644 index 00000000..e58a5df3 --- /dev/null +++ b/docs/cpp/GoalEndState_8h_source.html @@ -0,0 +1,146 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/path/GoalEndState.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ +
+
GoalEndState.h
+
+
+
1#pragma once
+
2
+
3#include <units/velocity.h>
+
4#include <units/math.h>
+
5#include <frc/geometry/Rotation2d.h>
+
6#include <wpi/json.h>
+
7
+
8namespace pathplanner {
+
9class GoalEndState {
+
10public:
+
17 constexpr GoalEndState(units::meters_per_second_t velocity,
+
18 frc::Rotation2d rotation) : m_velocity(velocity), m_rotation(
+
19 rotation) {
+
20 }
+
21
+
28 static GoalEndState fromJson(const wpi::json &json);
+
29
+
35 constexpr units::meters_per_second_t getVelocity() const {
+
36 return m_velocity;
+
37 }
+
38
+
44 constexpr const frc::Rotation2d& getRotation() const {
+
45 return m_rotation;
+
46 }
+
47
+
48 inline bool operator==(const GoalEndState &other) const {
+
49 return std::abs(m_velocity() - other.m_velocity()) < 1E-9
+
50 && m_rotation == other.m_rotation;
+
51 }
+
52
+
53private:
+
54 units::meters_per_second_t m_velocity;
+
55 frc::Rotation2d m_rotation;
+
56};
+
57}
+
pathplanner::GoalEndState
Definition: GoalEndState.h:9
+
pathplanner::GoalEndState::fromJson
static GoalEndState fromJson(const wpi::json &json)
Definition: GoalEndState.cpp:7
+
pathplanner::GoalEndState::getVelocity
constexpr units::meters_per_second_t getVelocity() const
Definition: GoalEndState.h:35
+
pathplanner::GoalEndState::GoalEndState
constexpr GoalEndState(units::meters_per_second_t velocity, frc::Rotation2d rotation)
Definition: GoalEndState.h:17
+
pathplanner::GoalEndState::getRotation
constexpr const frc::Rotation2d & getRotation() const
Definition: GoalEndState.h:44
+
+
+ + + + diff --git a/docs/cpp/HolonomicPathFollowerConfig_8h_source.html b/docs/cpp/HolonomicPathFollowerConfig_8h_source.html new file mode 100644 index 00000000..e23e71a3 --- /dev/null +++ b/docs/cpp/HolonomicPathFollowerConfig_8h_source.html @@ -0,0 +1,151 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/util/HolonomicPathFollowerConfig.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
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+
+
+
+
+ +
+
HolonomicPathFollowerConfig.h
+
+
+
1#pragma once
+
2
+
3#include <units/velocity.h>
+
4#include <units/length.h>
+
5#include <units/time.h>
+
6#include "pathplanner/lib/util/PIDConstants.h"
+
7#include "pathplanner/lib/util/ReplanningConfig.h"
+
8
+
9namespace pathplanner {
+
10class HolonomicPathFollowerConfig {
+
11public:
+
12 const PIDConstants translationConstants;
+
13 const PIDConstants rotationConstants;
+
14 const units::meters_per_second_t maxModuleSpeed;
+
15 const units::meter_t driveBaseRadius;
+
16 const ReplanningConfig replanningConfig;
+
17 const units::second_t period;
+
18
+
33 constexpr HolonomicPathFollowerConfig(
+
34 const PIDConstants translationConstants,
+
35 const PIDConstants rotationConstants,
+
36 const units::meters_per_second_t maxModuleSpeed,
+
37 const units::meter_t driveBaseRadius,
+
38 const ReplanningConfig replanningConfig,
+
39 const units::second_t period = 0.02_s) : translationConstants(
+
40 translationConstants), rotationConstants(rotationConstants), maxModuleSpeed(
+
41 maxModuleSpeed), driveBaseRadius(driveBaseRadius), replanningConfig(
+
42 replanningConfig), period(period) {
+
43 }
+
44
+
55 constexpr HolonomicPathFollowerConfig(
+
56 const units::meters_per_second_t maxModuleSpeed,
+
57 const units::meter_t driveBaseRadius,
+
58 const ReplanningConfig replanningConfig,
+
59 const units::second_t period = 0.02_s) : HolonomicPathFollowerConfig(
+
60 PIDConstants(5.0, 0.0, 0.0), PIDConstants(5.0, 0.0, 0.0),
+
61 maxModuleSpeed, driveBaseRadius, replanningConfig, period) {
+
62 }
+
63};
+
64}
+
pathplanner::HolonomicPathFollowerConfig
Definition: HolonomicPathFollowerConfig.h:10
+
pathplanner::HolonomicPathFollowerConfig::HolonomicPathFollowerConfig
constexpr HolonomicPathFollowerConfig(const units::meters_per_second_t maxModuleSpeed, const units::meter_t driveBaseRadius, const ReplanningConfig replanningConfig, const units::second_t period=0.02_s)
Definition: HolonomicPathFollowerConfig.h:55
+
pathplanner::HolonomicPathFollowerConfig::HolonomicPathFollowerConfig
constexpr HolonomicPathFollowerConfig(const PIDConstants translationConstants, const PIDConstants rotationConstants, const units::meters_per_second_t maxModuleSpeed, const units::meter_t driveBaseRadius, const ReplanningConfig replanningConfig, const units::second_t period=0.02_s)
Definition: HolonomicPathFollowerConfig.h:33
+
pathplanner::PIDConstants
Definition: PIDConstants.h:4
+
pathplanner::ReplanningConfig
Definition: ReplanningConfig.h:6
+
+
+ + + + diff --git a/docs/cpp/NamedCommands_8h_source.html b/docs/cpp/NamedCommands_8h_source.html new file mode 100644 index 00000000..6f14b34b --- /dev/null +++ b/docs/cpp/NamedCommands_8h_source.html @@ -0,0 +1,142 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/auto/NamedCommands.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
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+
+
+
+
+ +
+
NamedCommands.h
+
+
+
1#pragma once
+
2
+
3#include <string>
+
4#include <unordered_map>
+
5#include <memory>
+
6#include <frc2/command/Commands.h>
+
7
+
8namespace pathplanner {
+
9class NamedCommands {
+
10public:
+
17 static inline void registerCommand(std::string name,
+
18 std::shared_ptr<frc2::Command> command) {
+
19 NamedCommands::namedCommands.emplace(name, command);
+
20 }
+
21
+
22 static inline void registerCommand(std::string name,
+
23 frc2::CommandPtr &&command) {
+
24 registerCommand(name,
+
25 std::shared_ptr < frc2::Command
+
26 > (std::move(command).Unwrap()));
+
27 }
+
28
+
35 static inline bool hasCommand(std::string name) {
+
36 return NamedCommands::namedCommands.contains(name);
+
37 }
+
38
+
45 static frc2::CommandPtr getCommand(std::string name);
+
46
+
47private:
+
48 static std::unordered_map<std::string, std::shared_ptr<frc2::Command>> namedCommands;
+
49};
+
50}
+
pathplanner::NamedCommands
Definition: NamedCommands.h:9
+
pathplanner::NamedCommands::getCommand
static frc2::CommandPtr getCommand(std::string name)
Definition: NamedCommands.cpp:8
+
pathplanner::NamedCommands::registerCommand
static void registerCommand(std::string name, std::shared_ptr< frc2::Command > command)
Definition: NamedCommands.h:17
+
pathplanner::NamedCommands::hasCommand
static bool hasCommand(std::string name)
Definition: NamedCommands.h:35
+
+
+ + + + diff --git a/docs/cpp/PIDConstants_8h_source.html b/docs/cpp/PIDConstants_8h_source.html new file mode 100644 index 00000000..1b1076a2 --- /dev/null +++ b/docs/cpp/PIDConstants_8h_source.html @@ -0,0 +1,132 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/util/PIDConstants.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
No Matches
+
+
+
+
+ +
+
PIDConstants.h
+
+
+
1#pragma once
+
2
+
3namespace pathplanner {
+
4class PIDConstants {
+
5public:
+
6 const double kP;
+
7 const double kI;
+
8 const double kD;
+
9 const double iZone;
+
10
+
19 constexpr PIDConstants(const double kP, const double kI, const double kD,
+
20 const double iZone = 1.0) : kP(kP), kI(kI), kD(kD), iZone(iZone) {
+
21 }
+
22
+
29 constexpr PIDConstants(const double kP, const double kD) : PIDConstants(kP,
+
30 0, kD) {
+
31 }
+
32
+
38 constexpr PIDConstants(const double kP) : PIDConstants(kP, 0, 0) {
+
39 }
+
40};
+
41}
+
pathplanner::PIDConstants
Definition: PIDConstants.h:4
+
pathplanner::PIDConstants::PIDConstants
constexpr PIDConstants(const double kP, const double kI, const double kD, const double iZone=1.0)
Definition: PIDConstants.h:19
+
pathplanner::PIDConstants::PIDConstants
constexpr PIDConstants(const double kP)
Definition: PIDConstants.h:38
+
pathplanner::PIDConstants::PIDConstants
constexpr PIDConstants(const double kP, const double kD)
Definition: PIDConstants.h:29
+
+
+ + + + diff --git a/docs/cpp/PPHolonomicDriveController_8h_source.html b/docs/cpp/PPHolonomicDriveController_8h_source.html new file mode 100644 index 00000000..262510a4 --- /dev/null +++ b/docs/cpp/PPHolonomicDriveController_8h_source.html @@ -0,0 +1,176 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/controllers/PPHolonomicDriveController.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
Searching...
+
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+
+
+
+
+ +
+
PPHolonomicDriveController.h
+
+
+
1#pragma once
+
2
+
3#include <frc/controller/PIDController.h>
+
4#include <frc/controller/ProfiledPIDController.h>
+
5#include <units/velocity.h>
+
6#include <units/length.h>
+
7#include <units/time.h>
+
8#include <units/angular_velocity.h>
+
9#include <frc/geometry/Translation2d.h>
+
10#include <frc/geometry/Rotation2d.h>
+
11#include <frc/geometry/Pose2d.h>
+
12#include <frc/kinematics/ChassisSpeeds.h>
+
13#include "pathplanner/lib/util/GeometryUtil.h"
+
14#include "pathplanner/lib/util/PIDConstants.h"
+
15#include "pathplanner/lib/util/HolonomicPathFollowerConfig.h"
+
16#include "pathplanner/lib/path/PathPlannerTrajectory.h"
+
17#include "pathplanner/lib/controllers/PathFollowingController.h"
+
18
+
19namespace pathplanner {
+
20class PPHolonomicDriveController: public PathFollowingController {
+
21public:
+
33 PPHolonomicDriveController(PIDConstants translationConstants,
+
34 PIDConstants rotationConstants,
+
35 units::meters_per_second_t maxModuleSpeed,
+
36 units::meter_t driveBaseRadius, units::second_t period = 0.02_s);
+
37
+
44 constexpr void setEnabled(bool enabled) {
+
45 m_enabled = enabled;
+
46 }
+
47
+
48 inline void reset(const frc::Pose2d &currentPose,
+
49 const frc::ChassisSpeeds &currentSpeeds) override {
+
50 m_rotationController.Reset(currentPose.Rotation().Radians(),
+
51 currentSpeeds.omega);
+
52 }
+
53
+
59 inline units::meter_t getPositionalError() override {
+
60 return m_translationError.Norm();
+
61 }
+
62
+
70 frc::ChassisSpeeds calculateRobotRelativeSpeeds(
+
71 const frc::Pose2d &currentPose,
+
72 const PathPlannerTrajectory::State &referenceState) override;
+
73
+
80 inline bool isHolonomic() override {
+
81 return true;
+
82 }
+
83
+
84private:
+
85 using rpsPerMps_t = units::unit_t<units::compound_unit<units::radians_per_second, units::inverse<units::meters_per_second>>>;
+
86
+
87 frc::PIDController m_xController;
+
88 frc::PIDController m_yController;
+
89 frc::ProfiledPIDController<units::radians> m_rotationController;
+
90 units::meters_per_second_t m_maxModuleSpeed;
+
91 rpsPerMps_t m_mpsToRps;
+
92
+
93 frc::Translation2d m_translationError;
+
94 bool m_enabled;
+
95};
+
96}
+
pathplanner::PIDConstants
Definition: PIDConstants.h:4
+
pathplanner::PPHolonomicDriveController
Definition: PPHolonomicDriveController.h:20
+
pathplanner::PPHolonomicDriveController::reset
void reset(const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds) override
Definition: PPHolonomicDriveController.h:48
+
pathplanner::PPHolonomicDriveController::getPositionalError
units::meter_t getPositionalError() override
Definition: PPHolonomicDriveController.h:59
+
pathplanner::PPHolonomicDriveController::isHolonomic
bool isHolonomic() override
Definition: PPHolonomicDriveController.h:80
+
pathplanner::PPHolonomicDriveController::setEnabled
constexpr void setEnabled(bool enabled)
Definition: PPHolonomicDriveController.h:44
+
pathplanner::PPHolonomicDriveController::calculateRobotRelativeSpeeds
frc::ChassisSpeeds calculateRobotRelativeSpeeds(const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &referenceState) override
Definition: PPHolonomicDriveController.cpp:26
+
pathplanner::PathFollowingController
Definition: PathFollowingController.h:9
+
pathplanner::PathPlannerTrajectory::State
Definition: PathPlannerTrajectory.h:23
+
+
+ + + + diff --git a/docs/cpp/PPLTVController_8h_source.html b/docs/cpp/PPLTVController_8h_source.html new file mode 100644 index 00000000..6cf9258f --- /dev/null +++ b/docs/cpp/PPLTVController_8h_source.html @@ -0,0 +1,162 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/controllers/PPLTVController.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ +
+
PPLTVController.h
+
+
+
1#pragma once
+
2
+
3#include "pathplanner/lib/controllers/PathFollowingController.h"
+
4#include <frc/controller/LTVUnicycleController.h>
+
5
+
6namespace pathplanner {
+
7class PPLTVController: public frc::LTVUnicycleController,
+
8 public PathFollowingController {
+
9public:
+
19 PPLTVController(units::second_t dt,
+
20 units::velocity::meters_per_second_t maxVelocity = 9_mps) : LTVUnicycleController(
+
21 dt, maxVelocity), m_lastError(0_m) {
+
22 }
+
23
+
38 PPLTVController(const wpi::array<double, 3> &Qelems,
+
39 const wpi::array<double, 2> &Relems, units::second_t dt,
+
40 units::meters_per_second_t maxVelocity = 9_mps) : LTVUnicycleController(
+
41 Qelems, Relems, dt, maxVelocity), m_lastError(0_m) {
+
42 }
+
43
+
44 frc::ChassisSpeeds calculateRobotRelativeSpeeds(
+
45 const frc::Pose2d &currentPose,
+
46 const PathPlannerTrajectory::State &targetState) override {
+
47 m_lastError = currentPose.Translation().Distance(targetState.position);
+
48
+
49 return Calculate(currentPose, targetState.getDifferentialPose(),
+
50 targetState.velocity, targetState.headingAngularVelocity);
+
51 }
+
52
+
53 inline void reset(const frc::Pose2d &currentPose,
+
54 const frc::ChassisSpeeds &currentSpeeds) override {
+
55 m_lastError = 0_m;
+
56 }
+
57
+
58 inline units::meter_t getPositionalError() override {
+
59 return m_lastError;
+
60 }
+
61
+
68 inline bool isHolonomic() override {
+
69 return false;
+
70 }
+
71
+
72private:
+
73 units::meter_t m_lastError;
+
74};
+
75}
+
pathplanner::PPLTVController
Definition: PPLTVController.h:8
+
pathplanner::PPLTVController::PPLTVController
PPLTVController(units::second_t dt, units::velocity::meters_per_second_t maxVelocity=9_mps)
Definition: PPLTVController.h:19
+
pathplanner::PPLTVController::getPositionalError
units::meter_t getPositionalError() override
Definition: PPLTVController.h:58
+
pathplanner::PPLTVController::isHolonomic
bool isHolonomic() override
Definition: PPLTVController.h:68
+
pathplanner::PPLTVController::PPLTVController
PPLTVController(const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, units::meters_per_second_t maxVelocity=9_mps)
Definition: PPLTVController.h:38
+
pathplanner::PPLTVController::reset
void reset(const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds) override
Definition: PPLTVController.h:53
+
pathplanner::PPLTVController::calculateRobotRelativeSpeeds
frc::ChassisSpeeds calculateRobotRelativeSpeeds(const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &targetState) override
Definition: PPLTVController.h:44
+
pathplanner::PathFollowingController
Definition: PathFollowingController.h:9
+
pathplanner::PathPlannerTrajectory::State
Definition: PathPlannerTrajectory.h:23
+
pathplanner::PathPlannerTrajectory::State::getDifferentialPose
constexpr frc::Pose2d getDifferentialPose() const
Definition: PathPlannerTrajectory.h:93
+
+
+ + + + diff --git a/docs/cpp/PPLibTelemetry_8h_source.html b/docs/cpp/PPLibTelemetry_8h_source.html new file mode 100644 index 00000000..3b4b150e --- /dev/null +++ b/docs/cpp/PPLibTelemetry_8h_source.html @@ -0,0 +1,188 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/util/PPLibTelemetry.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ +
+
PPLibTelemetry.h
+
+
+
1#pragma once
+
2
+
3#include <networktables/NetworkTableInstance.h>
+
4#include <networktables/DoubleArrayTopic.h>
+
5#include <networktables/DoubleTopic.h>
+
6#include <networktables/DoubleArrayTopic.h>
+
7#include <networktables/NetworkTableListener.h>
+
8#include <string>
+
9#include <unordered_map>
+
10#include <vector>
+
11#include <memory>
+
12#include <optional>
+
13#include <units/velocity.h>
+
14#include <units/angular_velocity.h>
+
15#include <units/length.h>
+
16#include <span>
+
17#include <frc/geometry/Pose2d.h>
+
18#include "pathplanner/lib/path/PathPlannerPath.h"
+
19#include "pathplanner/lib/commands/PathPlannerAuto.h"
+
20
+
21namespace pathplanner {
+
22class PPLibTelemetry {
+
23public:
+
24 static inline void enableCompetitionMode() {
+
25 m_compMode = true;
+
26 }
+
27
+
28 static inline void setVelocities(units::meters_per_second_t actualVel,
+
29 units::meters_per_second_t commandedVel,
+
30 units::degrees_per_second_t actualAngVel,
+
31 units::degrees_per_second_t commandedAngVel) {
+
32 if (!m_compMode) {
+
33 m_velPub.Set(std::span<const double>( { actualVel(), commandedVel(),
+
34 actualAngVel(), commandedAngVel() }));
+
35 }
+
36 }
+
37
+
38 static inline void setPathInaccuracy(units::meter_t inaccuracy) {
+
39 if (!m_compMode) {
+
40 m_inaccuracyPub.Set(inaccuracy());
+
41 }
+
42 }
+
43
+
44 static inline void setCurrentPose(frc::Pose2d pose) {
+
45 if (!m_compMode) {
+
46 m_posePub.Set(std::span<const double>( { pose.X()(), pose.Y()(),
+
47 pose.Rotation().Degrees()() }));
+
48 }
+
49 }
+
50
+
51 static void setCurrentPath(std::shared_ptr<PathPlannerPath> path);
+
52
+
53 static inline void setTargetPose(frc::Pose2d targetPose) {
+
54 if (!m_compMode) {
+
55 m_targetPosePub.Set(std::span<const double>( { targetPose.X()(),
+
56 targetPose.Y()(), targetPose.Rotation().Degrees()() }));
+
57 }
+
58 }
+
59
+
60 static void registerHotReloadPath(std::string pathName,
+
61 std::shared_ptr<PathPlannerPath> path);
+
62
+
63private:
+
64 static void ensureHotReloadListenersInitialized();
+
65
+
66 static void handlePathHotReloadEvent(const nt::Event &event);
+
67
+
68 static bool m_compMode;
+
69
+
70 static nt::DoubleArrayPublisher m_velPub;
+
71 static nt::DoublePublisher m_inaccuracyPub;
+
72 static nt::DoubleArrayPublisher m_posePub;
+
73 static nt::DoubleArrayPublisher m_pathPub;
+
74 static nt::DoubleArrayPublisher m_targetPosePub;
+
75
+
76 static std::unordered_map<std::string,
+
77 std::vector<std::shared_ptr<PathPlannerPath>>> m_hotReloadPaths;
+
78
+
79 static std::optional<NT_Listener> m_hotReloadPathListener;
+
80};
+
81}
+
pathplanner::PPLibTelemetry
Definition: PPLibTelemetry.h:22
+
+
+ + + + diff --git a/docs/cpp/PPRamseteController_8h_source.html b/docs/cpp/PPRamseteController_8h_source.html new file mode 100644 index 00000000..f8a17d97 --- /dev/null +++ b/docs/cpp/PPRamseteController_8h_source.html @@ -0,0 +1,158 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/controllers/PPRamseteController.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ +
+
PPRamseteController.h
+
+
+
1#pragma once
+
2
+
3#include "pathplanner/lib/controllers/PathFollowingController.h"
+
4#include <frc/controller/RamseteController.h>
+
5
+
6namespace pathplanner {
+
7class PPRamseteController: public frc::RamseteController,
+
8 public PathFollowingController {
+
9public:
+
18 PPRamseteController(units::unit_t<b_unit> b, units::unit_t<zeta_unit> zeta) : RamseteController(
+
19 b, zeta), m_lastError(0_m) {
+
20 }
+
21
+
26 PPRamseteController() : RamseteController(), m_lastError(0_m) {
+
27 }
+
28
+
29 frc::ChassisSpeeds calculateRobotRelativeSpeeds(
+
30 const frc::Pose2d &currentPose,
+
31 const PathPlannerTrajectory::State &targetState) override {
+
32 m_lastError = currentPose.Translation().Distance(targetState.position);
+
33
+
34 return Calculate(currentPose, targetState.getDifferentialPose(),
+
35 targetState.velocity, targetState.headingAngularVelocity);
+
36 }
+
37
+
38 inline void reset(const frc::Pose2d &currentPose,
+
39 const frc::ChassisSpeeds &currentSpeeds) override {
+
40 m_lastError = 0_m;
+
41 }
+
42
+
43 inline units::meter_t getPositionalError() override {
+
44 return m_lastError;
+
45 }
+
46
+
53 inline bool isHolonomic() override {
+
54 return false;
+
55 }
+
56
+
57private:
+
58 units::meter_t m_lastError;
+
59};
+
60}
+
pathplanner::PPRamseteController
Definition: PPRamseteController.h:8
+
pathplanner::PPRamseteController::isHolonomic
bool isHolonomic() override
Definition: PPRamseteController.h:53
+
pathplanner::PPRamseteController::PPRamseteController
PPRamseteController()
Definition: PPRamseteController.h:26
+
pathplanner::PPRamseteController::calculateRobotRelativeSpeeds
frc::ChassisSpeeds calculateRobotRelativeSpeeds(const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &targetState) override
Definition: PPRamseteController.h:29
+
pathplanner::PPRamseteController::reset
void reset(const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds) override
Definition: PPRamseteController.h:38
+
pathplanner::PPRamseteController::PPRamseteController
PPRamseteController(units::unit_t< b_unit > b, units::unit_t< zeta_unit > zeta)
Definition: PPRamseteController.h:18
+
pathplanner::PPRamseteController::getPositionalError
units::meter_t getPositionalError() override
Definition: PPRamseteController.h:43
+
pathplanner::PathFollowingController
Definition: PathFollowingController.h:9
+
pathplanner::PathPlannerTrajectory::State
Definition: PathPlannerTrajectory.h:23
+
pathplanner::PathPlannerTrajectory::State::getDifferentialPose
constexpr frc::Pose2d getDifferentialPose() const
Definition: PathPlannerTrajectory.h:93
+
+
+ + + + diff --git a/docs/cpp/PathConstraints_8h_source.html b/docs/cpp/PathConstraints_8h_source.html new file mode 100644 index 00000000..b6f9daae --- /dev/null +++ b/docs/cpp/PathConstraints_8h_source.html @@ -0,0 +1,169 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/path/PathConstraints.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ +
+
PathConstraints.h
+
+
+
1#pragma once
+
2
+
3#include <units/velocity.h>
+
4#include <units/acceleration.h>
+
5#include <units/angular_velocity.h>
+
6#include <units/angular_acceleration.h>
+
7#include <wpi/json.h>
+
8
+
9namespace pathplanner {
+
10class PathConstraints {
+
11public:
+
20 constexpr PathConstraints(units::meters_per_second_t maxVel,
+
21 units::meters_per_second_squared_t maxAccel,
+
22 units::radians_per_second_t maxAngularVel,
+
23 units::radians_per_second_squared_t maxAngularAccel) : m_maxVelocity(
+
24 maxVel), m_maxAcceleration(maxAccel), m_maxAngularVelocity(
+
25 maxAngularVel), m_maxAngularAcceleration(maxAngularAccel) {
+
26 }
+
27
+
34 static PathConstraints fromJson(const wpi::json &json);
+
35
+
41 constexpr units::meters_per_second_t getMaxVelocity() const {
+
42 return m_maxVelocity;
+
43 }
+
44
+
50 constexpr units::meters_per_second_squared_t getMaxAcceleration() const {
+
51 return m_maxAcceleration;
+
52 }
+
53
+
59 constexpr units::radians_per_second_t getMaxAngularVelocity() const {
+
60 return m_maxAngularVelocity;
+
61 }
+
62
+
68 constexpr units::radians_per_second_squared_t getMaxAngularAcceleration() const {
+
69 return m_maxAngularAcceleration;
+
70 }
+
71
+
72 bool operator==(const PathConstraints &other) const {
+
73 return std::abs(m_maxVelocity() - other.m_maxVelocity()) < 1E-9
+
74 && std::abs(m_maxAcceleration() - other.m_maxAcceleration())
+
75 < 1E-9
+
76 && std::abs(
+
77 m_maxAngularVelocity() - other.m_maxAngularVelocity())
+
78 < 1E-9
+
79 && std::abs(
+
80 m_maxAngularAcceleration()
+
81 - other.m_maxAngularAcceleration()) < 1E-9;
+
82 }
+
83
+
84private:
+
85 units::meters_per_second_t m_maxVelocity;
+
86 units::meters_per_second_squared_t m_maxAcceleration;
+
87 units::radians_per_second_t m_maxAngularVelocity;
+
88 units::radians_per_second_squared_t m_maxAngularAcceleration;
+
89};
+
90}
+
pathplanner::PathConstraints
Definition: PathConstraints.h:10
+
pathplanner::PathConstraints::getMaxVelocity
constexpr units::meters_per_second_t getMaxVelocity() const
Definition: PathConstraints.h:41
+
pathplanner::PathConstraints::fromJson
static PathConstraints fromJson(const wpi::json &json)
Definition: PathConstraints.cpp:6
+
pathplanner::PathConstraints::getMaxAngularAcceleration
constexpr units::radians_per_second_squared_t getMaxAngularAcceleration() const
Definition: PathConstraints.h:68
+
pathplanner::PathConstraints::getMaxAngularVelocity
constexpr units::radians_per_second_t getMaxAngularVelocity() const
Definition: PathConstraints.h:59
+
pathplanner::PathConstraints::getMaxAcceleration
constexpr units::meters_per_second_squared_t getMaxAcceleration() const
Definition: PathConstraints.h:50
+
pathplanner::PathConstraints::PathConstraints
constexpr PathConstraints(units::meters_per_second_t maxVel, units::meters_per_second_squared_t maxAccel, units::radians_per_second_t maxAngularVel, units::radians_per_second_squared_t maxAngularAccel)
Definition: PathConstraints.h:20
+
+
+ + + + diff --git a/docs/cpp/PathFollowingController_8h_source.html b/docs/cpp/PathFollowingController_8h_source.html new file mode 100644 index 00000000..b300fee3 --- /dev/null +++ b/docs/cpp/PathFollowingController_8h_source.html @@ -0,0 +1,137 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/controllers/PathFollowingController.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ +
+
PathFollowingController.h
+
+
+
1#pragma once
+
2
+
3#include <frc/kinematics/ChassisSpeeds.h>
+
4#include <frc/geometry/Pose2d.h>
+
5#include <units/length.h>
+
6#include "pathplanner/lib/path/PathPlannerTrajectory.h"
+
7
+
8namespace pathplanner {
+
9class PathFollowingController {
+
10public:
+
11 virtual ~PathFollowingController() {
+
12 }
+
13
+
21 virtual frc::ChassisSpeeds calculateRobotRelativeSpeeds(
+
22 const frc::Pose2d &currentPose,
+
23 const PathPlannerTrajectory::State &targetState) = 0;
+
24
+
31 virtual void reset(const frc::Pose2d &currentPose,
+
32 const frc::ChassisSpeeds &currentSpeeds) = 0;
+
33
+
39 virtual units::meter_t getPositionalError() = 0;
+
40
+
47 virtual bool isHolonomic() = 0;
+
48};
+
49}
+
pathplanner::PathFollowingController
Definition: PathFollowingController.h:9
+
pathplanner::PathFollowingController::calculateRobotRelativeSpeeds
virtual frc::ChassisSpeeds calculateRobotRelativeSpeeds(const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &targetState)=0
+
pathplanner::PathFollowingController::reset
virtual void reset(const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds)=0
+ +
pathplanner::PathFollowingController::getPositionalError
virtual units::meter_t getPositionalError()=0
+
pathplanner::PathPlannerTrajectory::State
Definition: PathPlannerTrajectory.h:23
+
+
+ + + + diff --git a/docs/cpp/PathPlannerAuto_8h_source.html b/docs/cpp/PathPlannerAuto_8h_source.html new file mode 100644 index 00000000..d23c446f --- /dev/null +++ b/docs/cpp/PathPlannerAuto_8h_source.html @@ -0,0 +1,144 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/PathPlannerAuto.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
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+
+
+
+
+ +
+
PathPlannerAuto.h
+
+
+
1#pragma once
+
2
+
3#include <frc2/command/CommandHelper.h>
+
4#include <frc/geometry/Pose2d.h>
+
5#include <wpi/json.h>
+
6#include <string>
+
7#include <memory>
+
8#include <vector>
+
9#include "pathplanner/lib/path/PathPlannerPath.h"
+
10
+
11namespace pathplanner {
+
15class PathPlannerAuto: public frc2::CommandHelper<frc2::Command, PathPlannerAuto> {
+
16public:
+
22 PathPlannerAuto(std::string autoName);
+
23
+
30 static std::vector<std::shared_ptr<PathPlannerPath>> getPathGroupFromAutoFile(
+
31 std::string autoName);
+
32
+
39 static frc::Pose2d getStartingPoseFromAutoFile(std::string autoName);
+
40
+
41 void Initialize() override;
+
42
+
43 void Execute() override;
+
44
+
45 bool IsFinished() override;
+
46
+
47 void End(bool interrupted) override;
+
48
+
49private:
+
50 std::unique_ptr<frc2::Command> m_autoCommand;
+
51
+
52 static std::vector<std::shared_ptr<PathPlannerPath>> pathsFromCommandJson(
+
53 const wpi::json &json);
+
54};
+
55}
+
pathplanner::PathPlannerAuto
Definition: PathPlannerAuto.h:15
+
pathplanner::PathPlannerAuto::getPathGroupFromAutoFile
static std::vector< std::shared_ptr< PathPlannerPath > > getPathGroupFromAutoFile(std::string autoName)
Definition: PathPlannerAuto.cpp:19
+
pathplanner::PathPlannerAuto::getStartingPoseFromAutoFile
static frc::Pose2d getStartingPoseFromAutoFile(std::string autoName)
Definition: PathPlannerAuto.cpp:37
+
+
+ + + + diff --git a/docs/cpp/PathPlannerLogging_8h_source.html b/docs/cpp/PathPlannerLogging_8h_source.html new file mode 100644 index 00000000..aa210ba9 --- /dev/null +++ b/docs/cpp/PathPlannerLogging_8h_source.html @@ -0,0 +1,163 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/util/PathPlannerLogging.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ +
+
PathPlannerLogging.h
+
+
+
1#pragma once
+
2
+
3#include <functional>
+
4#include <vector>
+
5#include <frc/geometry/Pose2d.h>
+
6#include <memory>
+
7#include <optional>
+
8#include "pathplanner/lib/path/PathPlannerPath.h"
+
9
+
10namespace pathplanner {
+
11class PathPlannerLogging {
+
12public:
+
13 static inline void setLogCurrentPoseCallback(
+
14 std::function<void(frc::Pose2d)> logCurrentPose) {
+
15 m_logCurrentPose = logCurrentPose;
+
16 }
+
17
+
18 static inline void setLogTargetPoseCallback(
+
19 std::function<void(frc::Pose2d)> logTargetPose) {
+
20 m_logTargetPose = logTargetPose;
+
21 }
+
22
+
23 static inline void setLogActivePathCallback(
+
24 std::function<void(std::vector<frc::Pose2d>)> logActivePath) {
+
25 m_logActivePath = logActivePath;
+
26 }
+
27
+
28 static inline void logCurrentPose(frc::Pose2d pose) {
+
29 if (m_logCurrentPose) {
+
30 m_logCurrentPose(pose);
+
31 }
+
32 }
+
33
+
34 static inline void logTargetPose(frc::Pose2d targetPose) {
+
35 if (m_logTargetPose) {
+
36 m_logTargetPose(targetPose);
+
37 }
+
38 }
+
39
+
40 static void logActivePath(std::shared_ptr<PathPlannerPath> path) {
+
41 if (m_logActivePath) {
+
42 std::vector < frc::Pose2d > poses;
+
43 for (const PathPoint &point : path->getAllPathPoints()) {
+
44 poses.push_back(frc::Pose2d(point.position, frc::Rotation2d()));
+
45 }
+
46 m_logActivePath(poses);
+
47 }
+
48 }
+
49
+
50private:
+
51 static std::function<void(frc::Pose2d)> m_logCurrentPose;
+
52 static std::function<void(frc::Pose2d)> m_logTargetPose;
+
53 static std::function<void(std::vector<frc::Pose2d>&)> m_logActivePath;
+
54};
+
55}
+
pathplanner::PathPlannerLogging
Definition: PathPlannerLogging.h:11
+
pathplanner::PathPoint
Definition: PathPoint.h:12
+
+
+ + + + diff --git a/docs/cpp/PathPlannerPath_8h_source.html b/docs/cpp/PathPlannerPath_8h_source.html new file mode 100644 index 00000000..cbfee8f1 --- /dev/null +++ b/docs/cpp/PathPlannerPath_8h_source.html @@ -0,0 +1,259 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/path/PathPlannerPath.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
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PathPlannerPath.h
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+
+
1#pragma once
+
2
+
3#include "pathplanner/lib/path/RotationTarget.h"
+
4#include "pathplanner/lib/path/ConstraintsZone.h"
+
5#include "pathplanner/lib/path/EventMarker.h"
+
6#include "pathplanner/lib/path/PathConstraints.h"
+
7#include "pathplanner/lib/path/GoalEndState.h"
+
8#include "pathplanner/lib/path/PathPoint.h"
+
9#include "pathplanner/lib/path/PathSegment.h"
+
10#include <vector>
+
11#include <frc/geometry/Translation2d.h>
+
12#include <frc/kinematics/ChassisSpeeds.h>
+
13#include <wpi/json.h>
+
14#include <string>
+
15#include <units/length.h>
+
16#include <memory>
+
17#include <initializer_list>
+
18
+
19namespace pathplanner {
+
20class PathPlannerPath {
+
21public:
+
33 PathPlannerPath(std::vector<frc::Translation2d> bezierPoints,
+
34 std::vector<RotationTarget> rotationTargets,
+
35 std::vector<ConstraintsZone> constraintZones,
+
36 std::vector<EventMarker> eventMarkers,
+
37 PathConstraints globalConstraints, GoalEndState goalEndState,
+
38 bool reversed);
+
39
+
51 PathPlannerPath(std::vector<frc::Translation2d> bezierPoints,
+
52 PathConstraints constraints, GoalEndState goalEndState,
+
53 bool reversed = false) : PathPlannerPath(bezierPoints,
+
54 std::vector<RotationTarget>(), std::vector<ConstraintsZone>(),
+
55 std::vector<EventMarker>(), constraints, goalEndState, reversed) {
+
56 }
+
57
+
58 void hotReload(const wpi::json &json);
+
59
+
66 static std::vector<frc::Translation2d> bezierFromPoses(
+
67 std::vector<frc::Pose2d> poses);
+
68
+
75 static std::shared_ptr<PathPlannerPath> fromPathFile(std::string pathName);
+
76
+
83 inline PathConstraints getConstraintsForPoint(size_t idx) {
+
84 return getPoint(idx).constraints.value_or(m_globalConstraints);
+
85 }
+
86
+
91 static PathPlannerPath fromPathPoints(std::vector<PathPoint> pathPoints,
+
92 PathConstraints globalConstraints, GoalEndState goalEndState);
+
93
+
95 static std::vector<PathPoint> createPath(
+
96 std::vector<frc::Translation2d> bezierPoints,
+
97 std::vector<RotationTarget> holonomicRotations,
+
98 std::vector<ConstraintsZone> constraintZones);
+
99
+
105 constexpr const std::vector<PathPoint>& getAllPathPoints() const {
+
106 return m_allPoints;
+
107 }
+
108
+
114 inline size_t numPoints() const {
+
115 return m_allPoints.size();
+
116 }
+
117
+
124 inline const PathPoint& getPoint(size_t index) const {
+
125 return m_allPoints[index];
+
126 }
+
127
+
133 constexpr const PathConstraints& getGlobalConstraints() const {
+
134 return m_globalConstraints;
+
135 }
+
136
+
142 constexpr const GoalEndState& getGoalEndState() const {
+
143 return m_goalEndState;
+
144 }
+
145
+
151 constexpr std::vector<EventMarker>& getEventMarkers() {
+
152 return m_eventMarkers;
+
153 }
+
154
+
160 constexpr bool isReversed() const {
+
161 return m_reversed;
+
162 }
+
163
+
171 std::shared_ptr<PathPlannerPath> replan(const frc::Pose2d startingPose,
+
172 const frc::ChassisSpeeds currentSpeeds) const;
+
173
+
174private:
+
175 PathPlannerPath(PathConstraints globalConstraints,
+
176 GoalEndState goalEndState);
+
177
+
178 static PathPlannerPath fromJson(const wpi::json &json);
+
179
+
180 static std::vector<frc::Translation2d> bezierPointsFromWaypointsJson(
+
181 const wpi::json &json);
+
182
+
183 static frc::Translation2d pointFromJson(const wpi::json &json);
+
184
+
185 void precalcValues();
+
186
+
187 static units::meter_t getCurveRadiusAtPoint(size_t index,
+
188 std::vector<PathPoint> &points);
+
189
+
197 static double mapPct(double pct, double seg1Pct) {
+
198 double mappedPct;
+
199 if (pct <= seg1Pct) {
+
200 // Map to segment 1
+
201 mappedPct = pct / seg1Pct;
+
202 } else {
+
203 // Map to segment 2
+
204 mappedPct = 1.0 + ((pct - seg1Pct) / (1.0 - seg1Pct));
+
205 }
+
206
+
207 return std::round(mappedPct * (1.0 / PathSegment::RESOLUTION))
+
208 / (1.0 / PathSegment::RESOLUTION);
+
209 }
+
210
+
211 static inline units::meter_t positionDelta(const frc::Translation2d &a,
+
212 const frc::Translation2d &b) {
+
213 frc::Translation2d delta = a - b;
+
214
+
215 return units::math::abs(delta.X()) + units::math::abs(delta.Y());
+
216 }
+
217
+
218 std::vector<frc::Translation2d> m_bezierPoints;
+
219 std::vector<RotationTarget> m_rotationTargets;
+
220 std::vector<ConstraintsZone> m_constraintZones;
+
221 std::vector<EventMarker> m_eventMarkers;
+
222 PathConstraints m_globalConstraints;
+
223 GoalEndState m_goalEndState;
+
224 std::vector<PathPoint> m_allPoints;
+
225 bool m_reversed;
+
226};
+
227}
+
pathplanner::ConstraintsZone
Definition: ConstraintsZone.h:7
+
pathplanner::EventMarker
Definition: EventMarker.h:11
+
pathplanner::GoalEndState
Definition: GoalEndState.h:9
+
pathplanner::PathConstraints
Definition: PathConstraints.h:10
+
pathplanner::PathPlannerPath
Definition: PathPlannerPath.h:20
+
pathplanner::PathPlannerPath::fromPathFile
static std::shared_ptr< PathPlannerPath > fromPathFile(std::string pathName)
Definition: PathPlannerPath.cpp:84
+
pathplanner::PathPlannerPath::bezierFromPoses
static std::vector< frc::Translation2d > bezierFromPoses(std::vector< frc::Pose2d > poses)
Definition: PathPlannerPath.cpp:45
+
pathplanner::PathPlannerPath::getPoint
const PathPoint & getPoint(size_t index) const
Definition: PathPlannerPath.h:124
+
pathplanner::PathPlannerPath::PathPlannerPath
PathPlannerPath(std::vector< frc::Translation2d > bezierPoints, PathConstraints constraints, GoalEndState goalEndState, bool reversed=false)
Definition: PathPlannerPath.h:51
+
pathplanner::PathPlannerPath::replan
std::shared_ptr< PathPlannerPath > replan(const frc::Pose2d startingPose, const frc::ChassisSpeeds currentSpeeds) const
Definition: PathPlannerPath.cpp:285
+
pathplanner::PathPlannerPath::fromPathPoints
static PathPlannerPath fromPathPoints(std::vector< PathPoint > pathPoints, PathConstraints globalConstraints, GoalEndState goalEndState)
Definition: PathPlannerPath.cpp:172
+
pathplanner::PathPlannerPath::getGoalEndState
constexpr const GoalEndState & getGoalEndState() const
Definition: PathPlannerPath.h:142
+
pathplanner::PathPlannerPath::getAllPathPoints
constexpr const std::vector< PathPoint > & getAllPathPoints() const
Definition: PathPlannerPath.h:105
+
pathplanner::PathPlannerPath::getGlobalConstraints
constexpr const PathConstraints & getGlobalConstraints() const
Definition: PathPlannerPath.h:133
+
pathplanner::PathPlannerPath::isReversed
constexpr bool isReversed() const
Definition: PathPlannerPath.h:160
+
pathplanner::PathPlannerPath::getEventMarkers
constexpr std::vector< EventMarker > & getEventMarkers()
Definition: PathPlannerPath.h:151
+
pathplanner::PathPlannerPath::numPoints
size_t numPoints() const
Definition: PathPlannerPath.h:114
+
pathplanner::PathPlannerPath::getConstraintsForPoint
PathConstraints getConstraintsForPoint(size_t idx)
Definition: PathPlannerPath.h:83
+
pathplanner::PathPlannerPath::createPath
static std::vector< PathPoint > createPath(std::vector< frc::Translation2d > bezierPoints, std::vector< RotationTarget > holonomicRotations, std::vector< ConstraintsZone > constraintZones)
Definition: PathPlannerPath.cpp:183
+
pathplanner::PathPoint
Definition: PathPoint.h:12
+
pathplanner::RotationTarget
Definition: RotationTarget.h:7
+
+
+ + + + diff --git a/docs/cpp/PathPlannerTrajectory_8h_source.html b/docs/cpp/PathPlannerTrajectory_8h_source.html new file mode 100644 index 00000000..01f1836e --- /dev/null +++ b/docs/cpp/PathPlannerTrajectory_8h_source.html @@ -0,0 +1,273 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/path/PathPlannerTrajectory.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
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PathPlannerTrajectory.h
+
+
+
1#pragma once
+
2
+
3#include <units/time.h>
+
4#include <units/length.h>
+
5#include <units/velocity.h>
+
6#include <units/acceleration.h>
+
7#include <units/angular_velocity.h>
+
8#include <units/curvature.h>
+
9#include <frc/geometry/Translation2d.h>
+
10#include <frc/geometry/Rotation2d.h>
+
11#include <frc/geometry/Pose2d.h>
+
12#include <frc/kinematics/ChassisSpeeds.h>
+
13#include <frc/MathUtil.h>
+
14#include <vector>
+
15#include <memory>
+
16#include "pathplanner/lib/path/PathConstraints.h"
+
17#include "pathplanner/lib/path/PathPlannerPath.h"
+
18#include "pathplanner/lib/util/GeometryUtil.h"
+
19
+
20namespace pathplanner {
+
21class PathPlannerTrajectory {
+
22public:
+
23 class State {
+
24 public:
+
25 units::second_t time;
+
26 units::meters_per_second_t velocity;
+
27 units::meters_per_second_squared_t acceleration;
+
28 units::radians_per_second_t headingAngularVelocity;
+
29 frc::Translation2d position;
+
30 frc::Rotation2d heading;
+
31 frc::Rotation2d targetHolonomicRotation;
+
32 units::curvature_t curvature;
+
33 PathConstraints constraints;
+
34 units::meter_t deltaPos;
+
35
+
36 constexpr State() : constraints(0_mps, 0_mps_sq, 0_rad_per_s,
+
37 0_rad_per_s_sq) {
+
38 }
+
39
+
40 constexpr State interpolate(const State &endValue, double t) const {
+
41 State lerpedState;
+
42
+
43 lerpedState.time = GeometryUtil::unitLerp(time, endValue.time, t);
+
44 units::second_t deltaT = lerpedState.time - time;
+
45
+
46 if (deltaT < 0_s) {
+
47 return endValue.interpolate(*this, 1.0 - t);
+
48 }
+
49
+
50 lerpedState.velocity = GeometryUtil::unitLerp(velocity,
+
51 endValue.velocity, t);
+
52 lerpedState.acceleration = GeometryUtil::unitLerp(acceleration,
+
53 endValue.acceleration, t);
+
54 lerpedState.position = GeometryUtil::translationLerp(position,
+
55 endValue.position, t);
+
56 lerpedState.heading = GeometryUtil::rotationLerp(heading,
+
57 endValue.heading, t);
+
58 lerpedState.headingAngularVelocity = GeometryUtil::unitLerp(
+
59 headingAngularVelocity, endValue.headingAngularVelocity, t);
+
60 lerpedState.curvature = GeometryUtil::unitLerp(curvature,
+
61 endValue.curvature, t);
+
62 lerpedState.deltaPos = GeometryUtil::unitLerp(deltaPos,
+
63 endValue.deltaPos, t);
+
64
+
65 if (t < 0.5) {
+
66 lerpedState.constraints = constraints;
+
67 lerpedState.targetHolonomicRotation = targetHolonomicRotation;
+
68 } else {
+
69 lerpedState.constraints = endValue.constraints;
+
70 lerpedState.targetHolonomicRotation =
+
71 endValue.targetHolonomicRotation;
+
72 }
+
73
+
74 return lerpedState;
+
75 }
+
76
+
84 constexpr frc::Pose2d getTargetHolonomicPose() const {
+
85 return frc::Pose2d(position, targetHolonomicRotation);
+
86 }
+
87
+
93 constexpr frc::Pose2d getDifferentialPose() const {
+
94 return frc::Pose2d(position, heading);
+
95 }
+
96
+
103 constexpr State reverse() const {
+
104 State reversed;
+
105
+
106 reversed.time = time;
+
107 reversed.velocity = -velocity;
+
108 reversed.acceleration = -acceleration;
+
109 reversed.headingAngularVelocity = -headingAngularVelocity;
+
110 reversed.heading = frc::Rotation2d(
+
111 frc::InputModulus(reversed.heading.Degrees() + 180_deg,
+
112 -180_deg, 180_deg));
+
113 reversed.targetHolonomicRotation = targetHolonomicRotation;
+
114 reversed.curvature = -curvature;
+
115 reversed.deltaPos = deltaPos;
+
116 reversed.constraints = constraints;
+
117
+
118 return reversed;
+
119 }
+
120 };
+
121
+
122 PathPlannerTrajectory() {
+
123 }
+
124
+
131 PathPlannerTrajectory(std::shared_ptr<PathPlannerPath> path,
+
132 const frc::ChassisSpeeds &startingSpeeds) : m_states(
+
133 generateStates(path, startingSpeeds)) {
+
134 }
+
135
+
142 State sample(const units::second_t time);
+
143
+
149 constexpr std::vector<State>& getStates() {
+
150 return m_states;
+
151 }
+
152
+
158 inline units::second_t getTotalTime() {
+
159 return getEndState().time;
+
160 }
+
161
+
168 inline State getState(size_t index) {
+
169 return m_states[index];
+
170 }
+
171
+
177 inline State getInitialState() {
+
178 return m_states[0];
+
179 }
+
180
+
188 inline frc::Pose2d getInitialTargetHolonomicPose() {
+
189 return m_states[0].getTargetHolonomicPose();
+
190 }
+
191
+
197 inline frc::Pose2d getInitialDifferentialPose() {
+
198 return m_states[0].getDifferentialPose();
+
199 }
+
200
+
206 inline State getEndState() {
+
207 return m_states[m_states.size() - 1];
+
208 }
+
209
+
210private:
+
211 std::vector<State> m_states;
+
212
+
213 static size_t getNextRotationTargetIdx(
+
214 std::shared_ptr<PathPlannerPath> path, const size_t startingIndex);
+
215
+
216 static std::vector<State> generateStates(
+
217 std::shared_ptr<PathPlannerPath> path,
+
218 const frc::ChassisSpeeds &startingSpeeds);
+
219};
+
220}
+
pathplanner::PathConstraints
Definition: PathConstraints.h:10
+
pathplanner::PathPlannerTrajectory::State
Definition: PathPlannerTrajectory.h:23
+
pathplanner::PathPlannerTrajectory::State::reverse
constexpr State reverse() const
Definition: PathPlannerTrajectory.h:103
+
pathplanner::PathPlannerTrajectory::State::getDifferentialPose
constexpr frc::Pose2d getDifferentialPose() const
Definition: PathPlannerTrajectory.h:93
+
pathplanner::PathPlannerTrajectory::State::getTargetHolonomicPose
constexpr frc::Pose2d getTargetHolonomicPose() const
Definition: PathPlannerTrajectory.h:84
+
pathplanner::PathPlannerTrajectory
Definition: PathPlannerTrajectory.h:21
+
pathplanner::PathPlannerTrajectory::getInitialState
State getInitialState()
Definition: PathPlannerTrajectory.h:177
+
pathplanner::PathPlannerTrajectory::getState
State getState(size_t index)
Definition: PathPlannerTrajectory.h:168
+
pathplanner::PathPlannerTrajectory::getTotalTime
units::second_t getTotalTime()
Definition: PathPlannerTrajectory.h:158
+
pathplanner::PathPlannerTrajectory::sample
State sample(const units::second_t time)
Definition: PathPlannerTrajectory.cpp:5
+
pathplanner::PathPlannerTrajectory::getInitialTargetHolonomicPose
frc::Pose2d getInitialTargetHolonomicPose()
Definition: PathPlannerTrajectory.h:188
+
pathplanner::PathPlannerTrajectory::getStates
constexpr std::vector< State > & getStates()
Definition: PathPlannerTrajectory.h:149
+
pathplanner::PathPlannerTrajectory::PathPlannerTrajectory
PathPlannerTrajectory(std::shared_ptr< PathPlannerPath > path, const frc::ChassisSpeeds &startingSpeeds)
Definition: PathPlannerTrajectory.h:131
+
pathplanner::PathPlannerTrajectory::getInitialDifferentialPose
frc::Pose2d getInitialDifferentialPose()
Definition: PathPlannerTrajectory.h:197
+
pathplanner::PathPlannerTrajectory::getEndState
State getEndState()
Definition: PathPlannerTrajectory.h:206
+
+
+ + + + diff --git a/docs/cpp/PathPoint_8h_source.html b/docs/cpp/PathPoint_8h_source.html new file mode 100644 index 00000000..88bf5ed8 --- /dev/null +++ b/docs/cpp/PathPoint_8h_source.html @@ -0,0 +1,135 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/path/PathPoint.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
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+ +
+
PathPoint.h
+
+
+
1#pragma once
+
2
+
3#include <frc/geometry/Translation2d.h>
+
4#include <frc/geometry/Rotation2d.h>
+
5#include <limits>
+
6#include <optional>
+
7#include <units/length.h>
+
8#include <units/velocity.h>
+
9#include "pathplanner/lib/path/PathConstraints.h"
+
10
+
11namespace pathplanner {
+
12class PathPoint {
+
13public:
+
14 frc::Translation2d position;
+
15 units::meter_t distanceAlongPath = 0_m;
+
16 units::meter_t curveRadius = 0_m;
+
17 units::meters_per_second_t maxV = units::meters_per_second_t {
+
18 std::numeric_limits<double>::infinity() };
+
19 std::optional<frc::Rotation2d> holonomicRotation = std::nullopt;
+
20 std::optional<PathConstraints> constraints = std::nullopt;
+
21
+
22 constexpr PathPoint(frc::Translation2d pos,
+
23 std::optional<frc::Rotation2d> rot,
+
24 std::optional<PathConstraints> pathCostriaints) : position(pos), holonomicRotation(
+
25 rot), constraints(pathCostriaints) {
+
26 }
+
27};
+
28}
+
pathplanner::PathPoint
Definition: PathPoint.h:12
+
+
+ + + + diff --git a/docs/cpp/PathSegment_8h_source.html b/docs/cpp/PathSegment_8h_source.html new file mode 100644 index 00000000..8dd6779d --- /dev/null +++ b/docs/cpp/PathSegment_8h_source.html @@ -0,0 +1,148 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/path/PathSegment.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
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+ +
+
PathSegment.h
+
+
+
1#pragma once
+
2
+
3#include "pathplanner/lib/path/PathPoint.h"
+
4#include "pathplanner/lib/path/RotationTarget.h"
+
5#include "pathplanner/lib/path/ConstraintsZone.h"
+
6#include <frc/geometry/Rotation2d.h>
+
7#include <frc/geometry/Translation2d.h>
+
8#include <vector>
+
9#include <optional>
+
10
+
11namespace pathplanner {
+
12class PathSegment {
+
13public:
+
14 static constexpr double RESOLUTION = 0.05;
+
15
+
27 PathSegment(frc::Translation2d p1, frc::Translation2d p2,
+
28 frc::Translation2d p3, frc::Translation2d p4,
+
29 std::vector<RotationTarget> targetHolonomicRotations,
+
30 std::vector<ConstraintsZone> constraintZones, bool endSegment);
+
31
+
41 PathSegment(frc::Translation2d p1, frc::Translation2d p2,
+
42 frc::Translation2d p3, frc::Translation2d p4, bool endSegment) : PathSegment(
+
43 p1, p2, p3, p4, std::vector<RotationTarget>(),
+
44 std::vector<ConstraintsZone>(), endSegment) {
+
45 }
+
46
+
52 constexpr std::vector<PathPoint>& getSegmentPoints() {
+
53 return m_segmentPoints;
+
54 }
+
55
+
56private:
+
57 std::vector<PathPoint> m_segmentPoints;
+
58
+
59 std::optional<ConstraintsZone> findConstraintsZone(
+
60 std::vector<ConstraintsZone> &zones, double t) const;
+
61};
+
62}
+
pathplanner::ConstraintsZone
Definition: ConstraintsZone.h:7
+
pathplanner::PathSegment
Definition: PathSegment.h:12
+
pathplanner::PathSegment::PathSegment
PathSegment(frc::Translation2d p1, frc::Translation2d p2, frc::Translation2d p3, frc::Translation2d p4, bool endSegment)
Definition: PathSegment.h:41
+
pathplanner::PathSegment::getSegmentPoints
constexpr std::vector< PathPoint > & getSegmentPoints()
Definition: PathSegment.h:52
+
pathplanner::RotationTarget
Definition: RotationTarget.h:7
+
+
+ + + + diff --git a/docs/cpp/PathfindHolonomic_8h_source.html b/docs/cpp/PathfindHolonomic_8h_source.html new file mode 100644 index 00000000..207f8f4b --- /dev/null +++ b/docs/cpp/PathfindHolonomic_8h_source.html @@ -0,0 +1,162 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/PathfindHolonomic.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
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+ +
+
PathfindHolonomic.h
+
+
+
1#pragma once
+
2
+
3#include "pathplanner/lib/commands/PathfindingCommand.h"
+
4#include "pathplanner/lib/controllers/PPHolonomicDriveController.h"
+
5
+
6namespace pathplanner {
+
7class PathfindHolonomic: public PathfindingCommand {
+
8public:
+
24 PathfindHolonomic(std::shared_ptr<PathPlannerPath> targetPath,
+
25 PathConstraints constraints,
+
26 std::function<frc::Pose2d()> poseSupplier,
+
27 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
28 std::function<void(frc::ChassisSpeeds)> output,
+
29 HolonomicPathFollowerConfig config, frc2::Requirements requirements,
+
30 units::meter_t rotationDelayDistance = 0_m) : PathfindingCommand(
+
31 targetPath, constraints, poseSupplier, currentRobotRelativeSpeeds,
+
32 output,
+
33 std::make_unique < PPHolonomicDriveController
+
34 > (config.translationConstants, config.rotationConstants, config.maxModuleSpeed, config.driveBaseRadius, config.period),
+
35 rotationDelayDistance, requirements) {
+
36 }
+
37
+
55 PathfindHolonomic(frc::Pose2d targetPose, PathConstraints constraints,
+
56 units::meters_per_second_t goalEndVel,
+
57 std::function<frc::Pose2d()> poseSupplier,
+
58 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
59 std::function<void(frc::ChassisSpeeds)> output,
+
60 HolonomicPathFollowerConfig config, frc2::Requirements requirements,
+
61 units::meter_t rotationDelayDistance = 0_m) : PathfindingCommand(
+
62 targetPose, constraints, goalEndVel, poseSupplier,
+
63 currentRobotRelativeSpeeds, output,
+
64 std::make_unique < PPHolonomicDriveController
+
65 > (config.translationConstants, config.rotationConstants, config.maxModuleSpeed, config.driveBaseRadius, config.period),
+
66 rotationDelayDistance, requirements) {
+
67 }
+
68
+
85 PathfindHolonomic(frc::Pose2d targetPose, PathConstraints constraints,
+
86 std::function<frc::Pose2d()> poseSupplier,
+
87 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
88 std::function<void(frc::ChassisSpeeds)> output,
+
89 HolonomicPathFollowerConfig config, frc2::Requirements requirements,
+
90 units::meter_t rotationDelayDistance = 0_m) : PathfindHolonomic(
+
91 targetPose, constraints, 0_mps, poseSupplier,
+
92 currentRobotRelativeSpeeds, output, config, requirements,
+
93 rotationDelayDistance) {
+
94 }
+
95};
+
96}
+
pathplanner::HolonomicPathFollowerConfig
Definition: HolonomicPathFollowerConfig.h:10
+
pathplanner::PPHolonomicDriveController
Definition: PPHolonomicDriveController.h:20
+
pathplanner::PathConstraints
Definition: PathConstraints.h:10
+
pathplanner::PathfindHolonomic
Definition: PathfindHolonomic.h:7
+
pathplanner::PathfindHolonomic::PathfindHolonomic
PathfindHolonomic(frc::Pose2d targetPose, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)
Definition: PathfindHolonomic.h:85
+
pathplanner::PathfindHolonomic::PathfindHolonomic
PathfindHolonomic(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)
Definition: PathfindHolonomic.h:24
+
pathplanner::PathfindHolonomic::PathfindHolonomic
PathfindHolonomic(frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)
Definition: PathfindHolonomic.h:55
+
pathplanner::PathfindingCommand
Definition: PathfindingCommand.h:23
+
+
+ + + + diff --git a/docs/cpp/PathfindLTV_8h_source.html b/docs/cpp/PathfindLTV_8h_source.html new file mode 100644 index 00000000..ec5fbc8c --- /dev/null +++ b/docs/cpp/PathfindLTV_8h_source.html @@ -0,0 +1,171 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/PathfindLTV.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+
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+
+
+
+
+ +
+
PathfindLTV.h
+
+
+
1#pragma once
+
2
+
3#include "pathplanner/lib/commands/PathfindingCommand.h"
+
4#include "pathplanner/lib/controllers/PPLTVController.h"
+
5
+
6namespace pathplanner {
+
7class PathfindLTV: public PathfindingCommand {
+
8public:
+
22 PathfindLTV(std::shared_ptr<PathPlannerPath> targetPath,
+
23 PathConstraints constraints,
+
24 std::function<frc::Pose2d()> poseSupplier,
+
25 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
26 std::function<void(frc::ChassisSpeeds)> output,
+
27 const wpi::array<double, 3> &Qelems,
+
28 const wpi::array<double, 2> &Relems, units::second_t dt,
+
29 frc2::Requirements requirements) : PathfindingCommand(targetPath,
+
30 constraints, poseSupplier, currentRobotRelativeSpeeds, output,
+
31 std::make_unique < PPLTVController > (Qelems, Relems, dt), 0_m,
+
32 requirements) {
+
33 }
+
34
+
46 PathfindLTV(std::shared_ptr<PathPlannerPath> targetPath,
+
47 PathConstraints constraints,
+
48 std::function<frc::Pose2d()> poseSupplier,
+
49 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
50 std::function<void(frc::ChassisSpeeds)> output, units::second_t dt,
+
51 frc2::Requirements requirements) : PathfindingCommand(targetPath,
+
52 constraints, poseSupplier, currentRobotRelativeSpeeds, output,
+
53 std::make_unique < PPLTVController > (dt), 0_m, requirements) {
+
54 }
+
55
+
70 PathfindLTV(frc::Translation2d targetPosition, PathConstraints constraints,
+
71 units::meters_per_second_t goalEndVel,
+
72 std::function<frc::Pose2d()> poseSupplier,
+
73 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
74 std::function<void(frc::ChassisSpeeds)> output,
+
75 const wpi::array<double, 3> &Qelems,
+
76 const wpi::array<double, 2> &Relems, units::second_t dt,
+
77 frc2::Requirements requirements) : PathfindingCommand(
+
78 frc::Pose2d(targetPosition, frc::Rotation2d()), constraints,
+
79 goalEndVel, poseSupplier, currentRobotRelativeSpeeds, output,
+
80 std::make_unique < PPLTVController > (Qelems, Relems, dt), 0_m,
+
81 requirements) {
+
82 }
+
83
+
96 PathfindLTV(frc::Translation2d targetPosition, PathConstraints constraints,
+
97 units::meters_per_second_t goalEndVel,
+
98 std::function<frc::Pose2d()> poseSupplier,
+
99 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
100 std::function<void(frc::ChassisSpeeds)> output, units::second_t dt,
+
101 frc2::Requirements requirements) : PathfindingCommand(
+
102 frc::Pose2d(targetPosition, frc::Rotation2d()), constraints,
+
103 goalEndVel, poseSupplier, currentRobotRelativeSpeeds, output,
+
104 std::make_unique < PPLTVController > (dt), 0_m, requirements) {
+
105 }
+
106};
+
107}
+
pathplanner::PPLTVController
Definition: PPLTVController.h:8
+
pathplanner::PathConstraints
Definition: PathConstraints.h:10
+
pathplanner::PathfindLTV
Definition: PathfindLTV.h:7
+
pathplanner::PathfindLTV::PathfindLTV
PathfindLTV(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, frc2::Requirements requirements)
Definition: PathfindLTV.h:70
+
pathplanner::PathfindLTV::PathfindLTV
PathfindLTV(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, units::second_t dt, frc2::Requirements requirements)
Definition: PathfindLTV.h:96
+
pathplanner::PathfindLTV::PathfindLTV
PathfindLTV(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, units::second_t dt, frc2::Requirements requirements)
Definition: PathfindLTV.h:46
+
pathplanner::PathfindLTV::PathfindLTV
PathfindLTV(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, frc2::Requirements requirements)
Definition: PathfindLTV.h:22
+
pathplanner::PathfindingCommand
Definition: PathfindingCommand.h:23
+
+
+ + + + diff --git a/docs/cpp/PathfindRamsete_8h_source.html b/docs/cpp/PathfindRamsete_8h_source.html new file mode 100644 index 00000000..da957505 --- /dev/null +++ b/docs/cpp/PathfindRamsete_8h_source.html @@ -0,0 +1,171 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/PathfindRamsete.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
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+
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+
+ +
+
PathfindRamsete.h
+
+
+
1#pragma once
+
2
+
3#include "pathplanner/lib/commands/PathfindingCommand.h"
+
4#include "pathplanner/lib/controllers/PPRamseteController.h"
+
5
+
6namespace pathplanner {
+
7class PathfindRamsete: public PathfindingCommand {
+
8public:
+
23 PathfindRamsete(std::shared_ptr<PathPlannerPath> targetPath,
+
24 PathConstraints constraints,
+
25 std::function<frc::Pose2d()> poseSupplier,
+
26 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
27 std::function<void(frc::ChassisSpeeds)> output,
+
28 units::unit_t<PPRamseteController::b_unit> b,
+
29 units::unit_t<PPRamseteController::zeta_unit> zeta,
+
30 frc2::Requirements requirements) : PathfindingCommand(targetPath,
+
31 constraints, poseSupplier, currentRobotRelativeSpeeds, output,
+
32 std::make_unique < PPRamseteController > (b, zeta), 0_m,
+
33 requirements) {
+
34 }
+
35
+
46 PathfindRamsete(std::shared_ptr<PathPlannerPath> targetPath,
+
47 PathConstraints constraints,
+
48 std::function<frc::Pose2d()> poseSupplier,
+
49 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
50 std::function<void(frc::ChassisSpeeds)> output,
+
51 frc2::Requirements requirements) : PathfindingCommand(targetPath,
+
52 constraints, poseSupplier, currentRobotRelativeSpeeds, output,
+
53 std::make_unique<PPRamseteController>(), 0_m, requirements) {
+
54 }
+
55
+
71 PathfindRamsete(frc::Translation2d targetPosition,
+
72 PathConstraints constraints, units::meters_per_second_t goalEndVel,
+
73 std::function<frc::Pose2d()> poseSupplier,
+
74 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
75 std::function<void(frc::ChassisSpeeds)> output,
+
76 units::unit_t<PPRamseteController::b_unit> b,
+
77 units::unit_t<PPRamseteController::zeta_unit> zeta,
+
78 frc2::Requirements requirements) : PathfindingCommand(
+
79 frc::Pose2d(targetPosition, frc::Rotation2d()), constraints,
+
80 goalEndVel, poseSupplier, currentRobotRelativeSpeeds, output,
+
81 std::make_unique < PPRamseteController > (b, zeta), 0_m,
+
82 requirements) {
+
83 }
+
84
+
96 PathfindRamsete(frc::Translation2d targetPosition,
+
97 PathConstraints constraints, units::meters_per_second_t goalEndVel,
+
98 std::function<frc::Pose2d()> poseSupplier,
+
99 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
100 std::function<void(frc::ChassisSpeeds)> output,
+
101 frc2::Requirements requirements) : PathfindingCommand(
+
102 frc::Pose2d(targetPosition, frc::Rotation2d()), constraints,
+
103 goalEndVel, poseSupplier, currentRobotRelativeSpeeds, output,
+
104 std::make_unique<PPRamseteController>(), 0_m, requirements) {
+
105 }
+
106};
+
107}
+
pathplanner::PPRamseteController
Definition: PPRamseteController.h:8
+
pathplanner::PathConstraints
Definition: PathConstraints.h:10
+
pathplanner::PathfindRamsete
Definition: PathfindRamsete.h:7
+
pathplanner::PathfindRamsete::PathfindRamsete
PathfindRamsete(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, units::unit_t< PPRamseteController::b_unit > b, units::unit_t< PPRamseteController::zeta_unit > zeta, frc2::Requirements requirements)
Definition: PathfindRamsete.h:23
+
pathplanner::PathfindRamsete::PathfindRamsete
PathfindRamsete(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, frc2::Requirements requirements)
Definition: PathfindRamsete.h:46
+
pathplanner::PathfindRamsete::PathfindRamsete
PathfindRamsete(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, units::unit_t< PPRamseteController::b_unit > b, units::unit_t< PPRamseteController::zeta_unit > zeta, frc2::Requirements requirements)
Definition: PathfindRamsete.h:71
+
pathplanner::PathfindRamsete::PathfindRamsete
PathfindRamsete(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, frc2::Requirements requirements)
Definition: PathfindRamsete.h:96
+
pathplanner::PathfindingCommand
Definition: PathfindingCommand.h:23
+
+
+ + + + diff --git a/docs/cpp/PathfindThenFollowPathHolonomic_8h_source.html b/docs/cpp/PathfindThenFollowPathHolonomic_8h_source.html new file mode 100644 index 00000000..def29ca3 --- /dev/null +++ b/docs/cpp/PathfindThenFollowPathHolonomic_8h_source.html @@ -0,0 +1,143 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
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+
PathfindThenFollowPathHolonomic.h
+
+
+
1#pragma once
+
2
+
3#include <frc2/command/SequentialCommandGroup.h>
+
4#include "pathplanner/lib/commands/FollowPathHolonomic.h"
+
5#include "pathplanner/lib/commands/PathfindHolonomic.h"
+
6#include "pathplanner/lib/commands/FollowPathWithEvents.h"
+
7
+
8namespace pathplanner {
+
9class PathfindThenFollowPathHolonomic: public frc2::SequentialCommandGroup {
+
10public:
+
25 PathfindThenFollowPathHolonomic(std::shared_ptr<PathPlannerPath> goalPath,
+
26 PathConstraints pathfindingConstraints,
+
27 std::function<frc::Pose2d()> poseSupplier,
+
28 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
29 std::function<void(frc::ChassisSpeeds)> robotRelativeOutput,
+
30 HolonomicPathFollowerConfig config, frc2::Requirements requirements,
+
31 units::meter_t rotationDelayDistance = 0_m) {
+
32 AddCommands(
+
33 PathfindHolonomic(goalPath, pathfindingConstraints,
+
34 poseSupplier, currentRobotRelativeSpeeds,
+
35 robotRelativeOutput, config, requirements,
+
36 rotationDelayDistance),
+
37 FollowPathWithEvents(
+
38 FollowPathHolonomic(goalPath, poseSupplier,
+
39 currentRobotRelativeSpeeds, robotRelativeOutput,
+
40 config, requirements).ToPtr().Unwrap(),
+
41 goalPath, poseSupplier));
+
42 }
+
43};
+
44}
+
pathplanner::FollowPathHolonomic
Definition: FollowPathHolonomic.h:9
+
pathplanner::FollowPathWithEvents
Definition: FollowPathWithEvents.h:13
+
pathplanner::HolonomicPathFollowerConfig
Definition: HolonomicPathFollowerConfig.h:10
+
pathplanner::PathConstraints
Definition: PathConstraints.h:10
+
pathplanner::PathfindHolonomic
Definition: PathfindHolonomic.h:7
+
pathplanner::PathfindThenFollowPathHolonomic
Definition: PathfindThenFollowPathHolonomic.h:9
+
pathplanner::PathfindThenFollowPathHolonomic::PathfindThenFollowPathHolonomic
PathfindThenFollowPathHolonomic(std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)
Definition: PathfindThenFollowPathHolonomic.h:25
+
+
+ + + + diff --git a/docs/cpp/PathfindThenFollowPathLTV_8h_source.html b/docs/cpp/PathfindThenFollowPathLTV_8h_source.html new file mode 100644 index 00000000..90c58fdb --- /dev/null +++ b/docs/cpp/PathfindThenFollowPathLTV_8h_source.html @@ -0,0 +1,164 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/PathfindThenFollowPathLTV.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+
+
+
+
+
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+ +
+
PathfindThenFollowPathLTV.h
+
+
+
1#pragma once
+
2
+
3#include <frc2/command/SequentialCommandGroup.h>
+
4#include "pathplanner/lib/commands/FollowPathLTV.h"
+
5#include "pathplanner/lib/commands/PathfindLTV.h"
+
6#include "pathplanner/lib/commands/FollowPathWithEvents.h"
+
7
+
8namespace pathplanner {
+
9class PathfindThenFollowPathLTV: public frc2::SequentialCommandGroup {
+
10public:
+
25 PathfindThenFollowPathLTV(std::shared_ptr<PathPlannerPath> goalPath,
+
26 PathConstraints pathfindingConstraints,
+
27 std::function<frc::Pose2d()> poseSupplier,
+
28 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
29 std::function<void(frc::ChassisSpeeds)> robotRelativeOutput,
+
30 const wpi::array<double, 3> &Qelems,
+
31 const wpi::array<double, 2> &Relems, units::second_t dt,
+
32 ReplanningConfig replanningConfig,
+
33 frc2::Requirements requirements) {
+
34 AddCommands(
+
35 PathfindLTV(goalPath, pathfindingConstraints, poseSupplier,
+
36 currentRobotRelativeSpeeds, robotRelativeOutput, Qelems,
+
37 Relems, dt, requirements),
+
38 FollowPathWithEvents(
+
39 FollowPathLTV(goalPath, poseSupplier,
+
40 currentRobotRelativeSpeeds, robotRelativeOutput,
+
41 Qelems, Relems, dt, replanningConfig,
+
42 requirements).ToPtr().Unwrap(), goalPath,
+
43 poseSupplier));
+
44 }
+
45
+
58 PathfindThenFollowPathLTV(std::shared_ptr<PathPlannerPath> goalPath,
+
59 PathConstraints pathfindingConstraints,
+
60 std::function<frc::Pose2d()> poseSupplier,
+
61 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
62 std::function<void(frc::ChassisSpeeds)> robotRelativeOutput,
+
63 units::second_t dt, ReplanningConfig replanningConfig,
+
64 frc2::Requirements requirements) {
+
65 AddCommands(
+
66 PathfindLTV(goalPath, pathfindingConstraints, poseSupplier,
+
67 currentRobotRelativeSpeeds, robotRelativeOutput, dt,
+
68 requirements),
+
69 FollowPathWithEvents(
+
70 FollowPathLTV(goalPath, poseSupplier,
+
71 currentRobotRelativeSpeeds, robotRelativeOutput,
+
72 dt, replanningConfig, requirements).ToPtr().Unwrap(),
+
73 goalPath, poseSupplier));
+
74 }
+
75};
+
76}
+
pathplanner::FollowPathLTV
Definition: FollowPathLTV.h:7
+
pathplanner::FollowPathWithEvents
Definition: FollowPathWithEvents.h:13
+
pathplanner::PathConstraints
Definition: PathConstraints.h:10
+
pathplanner::PathfindLTV
Definition: PathfindLTV.h:7
+
pathplanner::PathfindThenFollowPathLTV
Definition: PathfindThenFollowPathLTV.h:9
+
pathplanner::PathfindThenFollowPathLTV::PathfindThenFollowPathLTV
PathfindThenFollowPathLTV(std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)
Definition: PathfindThenFollowPathLTV.h:58
+
pathplanner::PathfindThenFollowPathLTV::PathfindThenFollowPathLTV
PathfindThenFollowPathLTV(std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)
Definition: PathfindThenFollowPathLTV.h:25
+
pathplanner::ReplanningConfig
Definition: ReplanningConfig.h:6
+
+
+ + + + diff --git a/docs/cpp/PathfindThenFollowPathRamsete_8h_source.html b/docs/cpp/PathfindThenFollowPathRamsete_8h_source.html new file mode 100644 index 00000000..f6782fab --- /dev/null +++ b/docs/cpp/PathfindThenFollowPathRamsete_8h_source.html @@ -0,0 +1,163 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/PathfindThenFollowPathRamsete.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
+ + + + + + + +
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+ +
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+
+ +
+ +
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PathfindThenFollowPathRamsete.h
+
+
+
1#pragma once
+
2
+
3#include <frc2/command/SequentialCommandGroup.h>
+
4#include "pathplanner/lib/commands/FollowPathRamsete.h"
+
5#include "pathplanner/lib/commands/PathfindRamsete.h"
+
6#include "pathplanner/lib/commands/FollowPathWithEvents.h"
+
7
+
8namespace pathplanner {
+
9class PathfindThenFollowPathRamsete: public frc2::SequentialCommandGroup {
+
10public:
+
26 PathfindThenFollowPathRamsete(std::shared_ptr<PathPlannerPath> goalPath,
+
27 PathConstraints pathfindingConstraints,
+
28 std::function<frc::Pose2d()> poseSupplier,
+
29 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
30 std::function<void(frc::ChassisSpeeds)> robotRelativeOutput,
+
31 units::unit_t<frc::RamseteController::b_unit> b,
+
32 units::unit_t<frc::RamseteController::zeta_unit> zeta,
+
33 ReplanningConfig replanningConfig,
+
34 frc2::Requirements requirements) {
+
35 AddCommands(
+
36 PathfindRamsete(goalPath, pathfindingConstraints, poseSupplier,
+
37 currentRobotRelativeSpeeds, robotRelativeOutput, b,
+
38 zeta, requirements),
+
39 FollowPathWithEvents(
+
40 FollowPathRamsete(goalPath, poseSupplier,
+
41 currentRobotRelativeSpeeds, robotRelativeOutput,
+
42 b, zeta, replanningConfig, requirements).ToPtr().Unwrap(),
+
43 goalPath, poseSupplier));
+
44 }
+
45
+
57 PathfindThenFollowPathRamsete(std::shared_ptr<PathPlannerPath> goalPath,
+
58 PathConstraints pathfindingConstraints,
+
59 std::function<frc::Pose2d()> poseSupplier,
+
60 std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
+
61 std::function<void(frc::ChassisSpeeds)> robotRelativeOutput,
+
62 ReplanningConfig replanningConfig,
+
63 frc2::Requirements requirements) {
+
64 AddCommands(
+
65 PathfindRamsete(goalPath, pathfindingConstraints, poseSupplier,
+
66 currentRobotRelativeSpeeds, robotRelativeOutput,
+
67 requirements),
+
68 FollowPathWithEvents(
+
69 FollowPathRamsete(goalPath, poseSupplier,
+
70 currentRobotRelativeSpeeds, robotRelativeOutput,
+
71 replanningConfig, requirements).ToPtr().Unwrap(),
+
72 goalPath, poseSupplier));
+
73 }
+
74};
+
75}
+
pathplanner::FollowPathRamsete
Definition: FollowPathRamsete.h:7
+
pathplanner::FollowPathWithEvents
Definition: FollowPathWithEvents.h:13
+
pathplanner::PathConstraints
Definition: PathConstraints.h:10
+
pathplanner::PathfindRamsete
Definition: PathfindRamsete.h:7
+
pathplanner::PathfindThenFollowPathRamsete
Definition: PathfindThenFollowPathRamsete.h:9
+
pathplanner::PathfindThenFollowPathRamsete::PathfindThenFollowPathRamsete
PathfindThenFollowPathRamsete(std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, units::unit_t< frc::RamseteController::b_unit > b, units::unit_t< frc::RamseteController::zeta_unit > zeta, ReplanningConfig replanningConfig, frc2::Requirements requirements)
Definition: PathfindThenFollowPathRamsete.h:26
+
pathplanner::PathfindThenFollowPathRamsete::PathfindThenFollowPathRamsete
PathfindThenFollowPathRamsete(std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, ReplanningConfig replanningConfig, frc2::Requirements requirements)
Definition: PathfindThenFollowPathRamsete.h:57
+
pathplanner::ReplanningConfig
Definition: ReplanningConfig.h:6
+
+
+ + + + diff --git a/docs/cpp/PathfindingCommand_8h_source.html b/docs/cpp/PathfindingCommand_8h_source.html new file mode 100644 index 00000000..596aa556 --- /dev/null +++ b/docs/cpp/PathfindingCommand_8h_source.html @@ -0,0 +1,176 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands/PathfindingCommand.h Source File + + + + + + + + + + + + + + +
+
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PathPlannerLib +
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PathfindingCommand.h
+
+
+
1#pragma once
+
2
+
3#include <frc2/command/Command.h>
+
4#include <frc2/command/CommandHelper.h>
+
5#include <frc2/command/Requirements.h>
+
6#include <memory>
+
7#include <functional>
+
8#include <frc/geometry/Pose2d.h>
+
9#include <frc/kinematics/ChassisSpeeds.h>
+
10#include <frc/Timer.h>
+
11#include <units/velocity.h>
+
12#include <units/length.h>
+
13#include <units/time.h>
+
14#include "pathplanner/lib/path/PathPlannerPath.h"
+
15#include "pathplanner/lib/path/PathPlannerTrajectory.h"
+
16#include "pathplanner/lib/controllers/PathFollowingController.h"
+
17#include "pathplanner/lib/util/ReplanningConfig.h"
+
18#include "pathplanner/lib/util/PathPlannerLogging.h"
+
19#include "pathplanner/lib/util/PPLibTelemetry.h"
+
20
+
21namespace pathplanner {
+
22class PathfindingCommand: public frc2::CommandHelper<frc2::Command,
+
23 PathfindingCommand> {
+
24public:
+
38 PathfindingCommand(std::shared_ptr<PathPlannerPath> targetPath,
+
39 PathConstraints constraints,
+
40 std::function<frc::Pose2d()> poseSupplier,
+
41 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
42 std::function<void(frc::ChassisSpeeds)> output,
+
43 std::unique_ptr<PathFollowingController> controller,
+
44 units::meter_t rotationDelayDistance,
+
45 frc2::Requirements requirements);
+
46
+
62 PathfindingCommand(frc::Pose2d targetPose, PathConstraints constraints,
+
63 units::meters_per_second_t goalEndVel,
+
64 std::function<frc::Pose2d()> poseSupplier,
+
65 std::function<frc::ChassisSpeeds()> speedsSupplier,
+
66 std::function<void(frc::ChassisSpeeds)> output,
+
67 std::unique_ptr<PathFollowingController> controller,
+
68 units::meter_t rotationDelayDistance,
+
69 frc2::Requirements requirements);
+
70
+
71 void Initialize() override;
+
72
+
73 void Execute() override;
+
74
+
75 bool IsFinished() override;
+
76
+
77 void End(bool interrupted) override;
+
78
+
79private:
+
80 frc::Timer m_timer;
+
81 std::shared_ptr<PathPlannerPath> m_targetPath;
+
82 frc::Pose2d m_targetPose;
+
83 GoalEndState m_goalEndState;
+
84 PathConstraints m_constraints;
+
85 std::function<frc::Pose2d()> m_poseSupplier;
+
86 std::function<frc::ChassisSpeeds()> m_speedsSupplier;
+
87 std::function<void(frc::ChassisSpeeds)> m_output;
+
88 std::unique_ptr<PathFollowingController> m_controller;
+
89 units::meter_t m_rotationDelayDistance;
+
90
+
91 PathPlannerTrajectory m_currentTrajectory;
+
92 frc::Pose2d m_startingPose;
+
93};
+
94}
+
pathplanner::GoalEndState
Definition: GoalEndState.h:9
+
pathplanner::PathConstraints
Definition: PathConstraints.h:10
+
pathplanner::PathPlannerTrajectory
Definition: PathPlannerTrajectory.h:21
+
pathplanner::PathfindingCommand
Definition: PathfindingCommand.h:23
+
+
+ + + + diff --git a/docs/cpp/ReplanningConfig_8h_source.html b/docs/cpp/ReplanningConfig_8h_source.html new file mode 100644 index 00000000..b5869f42 --- /dev/null +++ b/docs/cpp/ReplanningConfig_8h_source.html @@ -0,0 +1,131 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/util/ReplanningConfig.h Source File + + + + + + + + + + + + + + +
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+ + + + + + +
+
PathPlannerLib +
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ReplanningConfig.h
+
+
+
1#pragma once
+
2
+
3#include <units/length.h>
+
4
+
5namespace pathplanner {
+
6class ReplanningConfig {
+
7public:
+
8 const bool enableInitialReplanning;
+
9 const bool enableDynamicReplanning;
+
10 const units::meter_t dynamicReplanningTotalErrorThreshold;
+
11 const units::meter_t dynamicReplanningErrorSpikeThreshold;
+
12
+
25 constexpr ReplanningConfig(const bool enableInitialReplanning = true,
+
26 const bool enableDynamicReplanning = false,
+
27 const units::meter_t dynamicReplanningTotalErrorThreshold = 1_m,
+
28 const units::meter_t dynamicReplanningErrorSpikeThreshold = 0.25_m) : enableInitialReplanning(
+
29 enableInitialReplanning), enableDynamicReplanning(
+
30 enableDynamicReplanning), dynamicReplanningTotalErrorThreshold(
+
31 dynamicReplanningTotalErrorThreshold), dynamicReplanningErrorSpikeThreshold(
+
32 dynamicReplanningErrorSpikeThreshold) {
+
33 }
+
34};
+
35}
+
pathplanner::ReplanningConfig
Definition: ReplanningConfig.h:6
+
pathplanner::ReplanningConfig::ReplanningConfig
constexpr ReplanningConfig(const bool enableInitialReplanning=true, const bool enableDynamicReplanning=false, const units::meter_t dynamicReplanningTotalErrorThreshold=1_m, const units::meter_t dynamicReplanningErrorSpikeThreshold=0.25_m)
Definition: ReplanningConfig.h:25
+
+
+ + + + diff --git a/docs/cpp/RotationTarget_8h_source.html b/docs/cpp/RotationTarget_8h_source.html new file mode 100644 index 00000000..42ab2cff --- /dev/null +++ b/docs/cpp/RotationTarget_8h_source.html @@ -0,0 +1,149 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/path/RotationTarget.h Source File + + + + + + + + + + + + + + +
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PathPlannerLib +
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RotationTarget.h
+
+
+
1#pragma once
+
2
+
3#include <frc/geometry/Rotation2d.h>
+
4#include <wpi/json.h>
+
5
+
6namespace pathplanner {
+
7class RotationTarget {
+
8public:
+
15 constexpr RotationTarget(double waypointRelativePosition,
+
16 frc::Rotation2d target) : m_position(waypointRelativePosition), m_target(
+
17 target) {
+
18 }
+
19
+
26 static RotationTarget fromJson(const wpi::json &json);
+
27
+
33 constexpr double getPosition() const {
+
34 return m_position;
+
35 }
+
36
+
42 constexpr const frc::Rotation2d& getTarget() const {
+
43 return m_target;
+
44 }
+
45
+
54 constexpr RotationTarget forSegmentIndex(int segmentIndex) const {
+
55 return RotationTarget(m_position - segmentIndex, m_target);
+
56 }
+
57
+
58 inline bool operator==(const RotationTarget &other) const {
+
59 return std::abs(m_position - other.m_position) < 1E-9
+
60 && m_target == other.m_target;
+
61 }
+
62
+
63private:
+
64 double m_position;
+
65 frc::Rotation2d m_target;
+
66};
+
67}
+
pathplanner::RotationTarget
Definition: RotationTarget.h:7
+
pathplanner::RotationTarget::fromJson
static RotationTarget fromJson(const wpi::json &json)
Definition: RotationTarget.cpp:6
+
pathplanner::RotationTarget::RotationTarget
constexpr RotationTarget(double waypointRelativePosition, frc::Rotation2d target)
Definition: RotationTarget.h:15
+
pathplanner::RotationTarget::getTarget
constexpr const frc::Rotation2d & getTarget() const
Definition: RotationTarget.h:42
+
pathplanner::RotationTarget::getPosition
constexpr double getPosition() const
Definition: RotationTarget.h:33
+
pathplanner::RotationTarget::forSegmentIndex
constexpr RotationTarget forSegmentIndex(int segmentIndex) const
Definition: RotationTarget.h:54
+
+
+ + + + diff --git a/docs/cpp/annotated.html b/docs/cpp/annotated.html new file mode 100644 index 00000000..44069865 --- /dev/null +++ b/docs/cpp/annotated.html @@ -0,0 +1,150 @@ + + + + + + + +PathPlannerLib: Class List + + + + + + + + + + + + + + +
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PathPlannerLib +
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Class List
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Here are the classes, structs, unions and interfaces with brief descriptions:
+
[detail level 123]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 ▼Npathplanner
 ▼CADStar
 CGridPosition
 CAutoBuilder
 CChassisSpeedsRateLimiter
 CCommandUtil
 CConstraintsZone
 CEventMarker
 CFollowPathCommand
 CFollowPathHolonomic
 CFollowPathLTV
 CFollowPathRamsete
 CFollowPathWithEvents
 CGoalEndState
 CHolonomicPathFollowerConfig
 CNamedCommands
 CPathConstraints
 CPathfindHolonomic
 CPathfindingCommand
 CPathfindLTV
 CPathfindRamsete
 CPathfindThenFollowPathHolonomic
 CPathfindThenFollowPathLTV
 CPathfindThenFollowPathRamsete
 CPathFollowingController
 CPathPlannerAuto
 CPathPlannerLogging
 CPathPlannerPath
 ▼CPathPlannerTrajectory
 CState
 CPathPoint
 CPathSegment
 CPIDConstants
 CPPHolonomicDriveController
 CPPLibTelemetry
 CPPLTVController
 CPPRamseteController
 CReplanningConfig
 CRotationTarget
 ▼Nstd
 Chash< pathplanner::ADStar::GridPosition >
+
+
+
+ + + + diff --git a/docs/cpp/annotated_dup.js b/docs/cpp/annotated_dup.js new file mode 100644 index 00000000..43b601a1 --- /dev/null +++ b/docs/cpp/annotated_dup.js @@ -0,0 +1,44 @@ +var annotated_dup = +[ + [ "pathplanner", null, [ + [ "ADStar", "classpathplanner_1_1ADStar.html", "classpathplanner_1_1ADStar" ], + [ "AutoBuilder", "classpathplanner_1_1AutoBuilder.html", null ], + [ "ChassisSpeedsRateLimiter", "classpathplanner_1_1ChassisSpeedsRateLimiter.html", "classpathplanner_1_1ChassisSpeedsRateLimiter" ], + [ "CommandUtil", "classpathplanner_1_1CommandUtil.html", null ], + [ "ConstraintsZone", "classpathplanner_1_1ConstraintsZone.html", "classpathplanner_1_1ConstraintsZone" ], + [ "EventMarker", "classpathplanner_1_1EventMarker.html", "classpathplanner_1_1EventMarker" ], + [ "FollowPathCommand", "classpathplanner_1_1FollowPathCommand.html", "classpathplanner_1_1FollowPathCommand" ], + [ "FollowPathHolonomic", "classpathplanner_1_1FollowPathHolonomic.html", "classpathplanner_1_1FollowPathHolonomic" ], + [ "FollowPathLTV", "classpathplanner_1_1FollowPathLTV.html", "classpathplanner_1_1FollowPathLTV" ], + [ "FollowPathRamsete", "classpathplanner_1_1FollowPathRamsete.html", "classpathplanner_1_1FollowPathRamsete" ], + [ "FollowPathWithEvents", "classpathplanner_1_1FollowPathWithEvents.html", "classpathplanner_1_1FollowPathWithEvents" ], + [ "GoalEndState", "classpathplanner_1_1GoalEndState.html", "classpathplanner_1_1GoalEndState" ], + [ "HolonomicPathFollowerConfig", "classpathplanner_1_1HolonomicPathFollowerConfig.html", "classpathplanner_1_1HolonomicPathFollowerConfig" ], + [ "NamedCommands", "classpathplanner_1_1NamedCommands.html", null ], + [ "PathConstraints", "classpathplanner_1_1PathConstraints.html", "classpathplanner_1_1PathConstraints" ], + [ "PathfindHolonomic", "classpathplanner_1_1PathfindHolonomic.html", "classpathplanner_1_1PathfindHolonomic" ], + [ "PathfindingCommand", "classpathplanner_1_1PathfindingCommand.html", "classpathplanner_1_1PathfindingCommand" ], + [ "PathfindLTV", "classpathplanner_1_1PathfindLTV.html", "classpathplanner_1_1PathfindLTV" ], + [ "PathfindRamsete", "classpathplanner_1_1PathfindRamsete.html", "classpathplanner_1_1PathfindRamsete" ], + [ "PathfindThenFollowPathHolonomic", "classpathplanner_1_1PathfindThenFollowPathHolonomic.html", "classpathplanner_1_1PathfindThenFollowPathHolonomic" ], + [ "PathfindThenFollowPathLTV", "classpathplanner_1_1PathfindThenFollowPathLTV.html", "classpathplanner_1_1PathfindThenFollowPathLTV" ], + [ "PathfindThenFollowPathRamsete", "classpathplanner_1_1PathfindThenFollowPathRamsete.html", "classpathplanner_1_1PathfindThenFollowPathRamsete" ], + [ "PathFollowingController", "classpathplanner_1_1PathFollowingController.html", "classpathplanner_1_1PathFollowingController" ], + [ "PathPlannerAuto", "classpathplanner_1_1PathPlannerAuto.html", "classpathplanner_1_1PathPlannerAuto" ], + [ "PathPlannerLogging", "classpathplanner_1_1PathPlannerLogging.html", null ], + [ "PathPlannerPath", "classpathplanner_1_1PathPlannerPath.html", "classpathplanner_1_1PathPlannerPath" ], + [ "PathPlannerTrajectory", "classpathplanner_1_1PathPlannerTrajectory.html", "classpathplanner_1_1PathPlannerTrajectory" ], + [ "PathPoint", "classpathplanner_1_1PathPoint.html", null ], + [ "PathSegment", "classpathplanner_1_1PathSegment.html", "classpathplanner_1_1PathSegment" ], + [ "PIDConstants", "classpathplanner_1_1PIDConstants.html", "classpathplanner_1_1PIDConstants" ], + [ "PPHolonomicDriveController", "classpathplanner_1_1PPHolonomicDriveController.html", "classpathplanner_1_1PPHolonomicDriveController" ], + [ "PPLibTelemetry", "classpathplanner_1_1PPLibTelemetry.html", null ], + [ "PPLTVController", "classpathplanner_1_1PPLTVController.html", "classpathplanner_1_1PPLTVController" ], + [ "PPRamseteController", "classpathplanner_1_1PPRamseteController.html", "classpathplanner_1_1PPRamseteController" ], + [ "ReplanningConfig", "classpathplanner_1_1ReplanningConfig.html", "classpathplanner_1_1ReplanningConfig" ], + [ "RotationTarget", "classpathplanner_1_1RotationTarget.html", "classpathplanner_1_1RotationTarget" ] + ] ], + [ "std", null, [ + [ "hash< pathplanner::ADStar::GridPosition >", "structstd_1_1hash_3_01pathplanner_1_1ADStar_1_1GridPosition_01_4.html", null ] + ] ] +]; \ No newline at end of file diff --git a/docs/cpp/bc_s.png b/docs/cpp/bc_s.png new file mode 100644 index 00000000..224b29aa Binary files /dev/null and b/docs/cpp/bc_s.png differ diff --git a/docs/cpp/bc_sd.png b/docs/cpp/bc_sd.png new file mode 100644 index 00000000..31ca888d Binary files /dev/null and b/docs/cpp/bc_sd.png differ diff --git a/docs/cpp/bdwn.png b/docs/cpp/bdwn.png new file mode 100644 index 00000000..940a0b95 Binary files /dev/null and b/docs/cpp/bdwn.png differ diff --git a/docs/cpp/classes.html b/docs/cpp/classes.html new file mode 100644 index 00000000..dd1152b4 --- /dev/null +++ b/docs/cpp/classes.html @@ -0,0 +1,138 @@ + + + + + + + +PathPlannerLib: Class Index + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
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Class Index
+
+
+
A | C | E | F | G | H | N | P | R | S
+
+
+
A
+
ADStar (pathplanner)
AutoBuilder (pathplanner)
+
+
C
+
ChassisSpeedsRateLimiter (pathplanner)
CommandUtil (pathplanner)
ConstraintsZone (pathplanner)
+
+
E
+
EventMarker (pathplanner)
+
+
F
+
FollowPathCommand (pathplanner)
FollowPathHolonomic (pathplanner)
FollowPathLTV (pathplanner)
FollowPathRamsete (pathplanner)
FollowPathWithEvents (pathplanner)
+
+
G
+
GoalEndState (pathplanner)
ADStar::GridPosition (pathplanner)
+
+
H
+
hash< pathplanner::ADStar::GridPosition > (std)
HolonomicPathFollowerConfig (pathplanner)
+
+
N
+
NamedCommands (pathplanner)
+
+
P
+
PathConstraints (pathplanner)
PathfindHolonomic (pathplanner)
PathfindingCommand (pathplanner)
PathfindLTV (pathplanner)
PathfindRamsete (pathplanner)
PathfindThenFollowPathHolonomic (pathplanner)
PathfindThenFollowPathLTV (pathplanner)
PathfindThenFollowPathRamsete (pathplanner)
PathFollowingController (pathplanner)
PathPlannerAuto (pathplanner)
PathPlannerLogging (pathplanner)
PathPlannerPath (pathplanner)
PathPlannerTrajectory (pathplanner)
PathPoint (pathplanner)
PathSegment (pathplanner)
PIDConstants (pathplanner)
PPHolonomicDriveController (pathplanner)
PPLibTelemetry (pathplanner)
PPLTVController (pathplanner)
PPRamseteController (pathplanner)
+
+
R
+
ReplanningConfig (pathplanner)
RotationTarget (pathplanner)
+
+
S
+
PathPlannerTrajectory::State (pathplanner)
+
+
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1ADStar-members.html b/docs/cpp/classpathplanner_1_1ADStar-members.html new file mode 100644 index 00000000..7c485d85 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ADStar-members.html @@ -0,0 +1,115 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::ADStar Member List
+
+
+ +

This is the complete list of members for pathplanner::ADStar, including all inherited members.

+ + + + + + + + +
ensureInitialized() (defined in pathplanner::ADStar)pathplanner::ADStarstatic
getCurrentPath() (defined in pathplanner::ADStar)pathplanner::ADStarstatic
getGridPos(const frc::Translation2d &pos) (defined in pathplanner::ADStar)pathplanner::ADStarinlinestatic
isNewPathAvailable() (defined in pathplanner::ADStar)pathplanner::ADStarinlinestatic
setDynamicObstacles(const std::vector< std::pair< frc::Translation2d, frc::Translation2d > > &obs, const frc::Translation2d &currentRobotPos) (defined in pathplanner::ADStar)pathplanner::ADStarstatic
setGoalPos(const frc::Translation2d &goal) (defined in pathplanner::ADStar)pathplanner::ADStarstatic
setStartPos(const frc::Translation2d &start) (defined in pathplanner::ADStar)pathplanner::ADStarstatic
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1ADStar.html b/docs/cpp/classpathplanner_1_1ADStar.html new file mode 100644 index 00000000..8b45dd63 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ADStar.html @@ -0,0 +1,144 @@ + + + + + + + +PathPlannerLib: pathplanner::ADStar Class Reference + + + + + + + + + + + + + + +
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+Classes

class  GridPosition
 
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+Static Public Member Functions

+static void ensureInitialized ()
 
+static bool isNewPathAvailable ()
 
+static std::vector< frc::Translation2d > getCurrentPath ()
 
+static void setStartPos (const frc::Translation2d &start)
 
+static void setGoalPos (const frc::Translation2d &goal)
 
+static void setDynamicObstacles (const std::vector< std::pair< frc::Translation2d, frc::Translation2d > > &obs, const frc::Translation2d &currentRobotPos)
 
+static GridPosition getGridPos (const frc::Translation2d &pos)
 
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1ADStar.js b/docs/cpp/classpathplanner_1_1ADStar.js new file mode 100644 index 00000000..0e437786 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ADStar.js @@ -0,0 +1,4 @@ +var classpathplanner_1_1ADStar = +[ + [ "GridPosition", "classpathplanner_1_1ADStar_1_1GridPosition.html", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1ADStar_1_1GridPosition-members.html b/docs/cpp/classpathplanner_1_1ADStar_1_1GridPosition-members.html new file mode 100644 index 00000000..52545a73 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ADStar_1_1GridPosition-members.html @@ -0,0 +1,113 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::ADStar::GridPosition Member List
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This is the complete list of members for pathplanner::ADStar::GridPosition, including all inherited members.

+ + + + + + +
GridPosition() (defined in pathplanner::ADStar::GridPosition)pathplanner::ADStar::GridPositioninline
GridPosition(const int xPos, const int yPos) (defined in pathplanner::ADStar::GridPosition)pathplanner::ADStar::GridPositioninline
operator==(const GridPosition &other) const (defined in pathplanner::ADStar::GridPosition)pathplanner::ADStar::GridPositioninline
x (defined in pathplanner::ADStar::GridPosition)pathplanner::ADStar::GridPosition
y (defined in pathplanner::ADStar::GridPosition)pathplanner::ADStar::GridPosition
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1ADStar_1_1GridPosition.html b/docs/cpp/classpathplanner_1_1ADStar_1_1GridPosition.html new file mode 100644 index 00000000..737c6d42 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ADStar_1_1GridPosition.html @@ -0,0 +1,132 @@ + + + + + + + +PathPlannerLib: pathplanner::ADStar::GridPosition Class Reference + + + + + + + + + + + + + + +
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+Public Member Functions

+constexpr GridPosition (const int xPos, const int yPos)
 
+constexpr bool operator== (const GridPosition &other) const
 
+ + + + + +

+Public Attributes

+int x
 
+int y
 
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1AutoBuilder-members.html b/docs/cpp/classpathplanner_1_1AutoBuilder-members.html new file mode 100644 index 00000000..2182ceb0 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1AutoBuilder-members.html @@ -0,0 +1,121 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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This is the complete list of members for pathplanner::AutoBuilder, including all inherited members.

+ + + + + + + + + + + + + + +
buildAuto(std::string autoName)pathplanner::AutoBuilderstatic
configureCustom(std::function< frc2::CommandPtr(std::shared_ptr< PathPlannerPath >)> pathFollowingCommandBuilder, std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose)pathplanner::AutoBuilderstatic
configureHolonomic(std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> robotRelativeSpeedsSupplier, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, HolonomicPathFollowerConfig config, frc2::Subsystem *driveSubsystem)pathplanner::AutoBuilderstatic
configureLTV(std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, const wpi::array< double, 3 > &Qelms, const wpi::array< double, 2 > &Relms, units::second_t dt, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)pathplanner::AutoBuilderstatic
configureLTV(std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, units::second_t dt, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)pathplanner::AutoBuilderstatic
configureRamsete(std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)pathplanner::AutoBuilderstatic
configureRamsete(std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, units::unit_t< frc::RamseteController::b_unit > b, units::unit_t< frc::RamseteController::zeta_unit > zeta, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)pathplanner::AutoBuilderstatic
followPathWithEvents(std::shared_ptr< PathPlannerPath > path)pathplanner::AutoBuilderstatic
getAutoCommandFromJson(const wpi::json &json)pathplanner::AutoBuilderstatic
getStartingPoseFromJson(const wpi::json &json) (defined in pathplanner::AutoBuilder)pathplanner::AutoBuilderstatic
isConfigured()pathplanner::AutoBuilderinlinestatic
pathfindThenFollowPath(std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, units::meter_t rotationDelayDistance=0_m)pathplanner::AutoBuilderstatic
pathfindToPose(frc::Pose2d pose, PathConstraints constraints, units::meters_per_second_t goalEndVel=0_mps, units::meter_t rotationDelayDistance=0_m)pathplanner::AutoBuilderstatic
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1AutoBuilder.html b/docs/cpp/classpathplanner_1_1AutoBuilder.html new file mode 100644 index 00000000..fd3b08a8 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1AutoBuilder.html @@ -0,0 +1,838 @@ + + + + + + + +PathPlannerLib: pathplanner::AutoBuilder Class Reference + + + + + + + + + + + + + + +
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+Static Public Member Functions

static void configureHolonomic (std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> robotRelativeSpeedsSupplier, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, HolonomicPathFollowerConfig config, frc2::Subsystem *driveSubsystem)
 
static void configureRamsete (std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)
 
static void configureRamsete (std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, units::unit_t< frc::RamseteController::b_unit > b, units::unit_t< frc::RamseteController::zeta_unit > zeta, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)
 
static void configureLTV (std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, const wpi::array< double, 3 > &Qelms, const wpi::array< double, 2 > &Relms, units::second_t dt, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)
 
static void configureLTV (std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, units::second_t dt, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)
 
static void configureCustom (std::function< frc2::CommandPtr(std::shared_ptr< PathPlannerPath >)> pathFollowingCommandBuilder, std::function< frc::Pose2d()> poseSupplier, std::function< void(frc::Pose2d)> resetPose)
 
static bool isConfigured ()
 
static frc2::CommandPtr followPathWithEvents (std::shared_ptr< PathPlannerPath > path)
 
static frc2::CommandPtr buildAuto (std::string autoName)
 
static frc2::CommandPtr getAutoCommandFromJson (const wpi::json &json)
 
+static frc::Pose2d getStartingPoseFromJson (const wpi::json &json)
 
static frc2::CommandPtr pathfindToPose (frc::Pose2d pose, PathConstraints constraints, units::meters_per_second_t goalEndVel=0_mps, units::meter_t rotationDelayDistance=0_m)
 
static frc2::CommandPtr pathfindThenFollowPath (std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, units::meter_t rotationDelayDistance=0_m)
 
+

Member Function Documentation

+ +

◆ buildAuto()

+ +
+
+ + + + + +
+ + + + + + + + +
frc2::CommandPtr AutoBuilder::buildAuto (std::string autoName)
+ 		+static
+
+

Builds an auto command for the given auto name.

+
Parameters
+ + +
autoNamethe name of the auto to build
+
+
+
Returns
an auto command for the given auto name
+ +
+
+ +

◆ configureCustom()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void AutoBuilder::configureCustom (std::function< frc2::CommandPtr(std::shared_ptr< PathPlannerPath >)> pathFollowingCommandBuilder,
std::function< frc::Pose2d()> poseSupplier,
std::function< void(frc::Pose2d)> resetPose 
)
+ 		+static
+
+

Configures the AutoBuilder with custom path following command builder. Building pathfinding commands is not supported when using a custom path following command builder.

+
Parameters
+ + + + +
pathFollowingCommandBuildera function that builds a command to follow a given path
poseSuppliera function that returns the robot's current pose
resetPosea function for resetting the robot's pose
+
+
+ +
+
+ +

◆ configureHolonomic()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void AutoBuilder::configureHolonomic (std::function< frc::Pose2d()> poseSupplier,
std::function< void(frc::Pose2d)> resetPose,
std::function< frc::ChassisSpeeds()> robotRelativeSpeedsSupplier,
std::function< void(frc::ChassisSpeeds)> robotRelativeOutput,
HolonomicPathFollowerConfig config,
frc2::Subsystem * driveSubsystem 
)
+ 		+static
+
+

Configures the AutoBuilder for a holonomic drivetrain.

+
Parameters
+ + + + + + + +
poseSuppliera function that returns the robot's current pose
resetPosea function used for resetting the robot's pose
robotRelativeSpeedsSuppliera function that returns the robot's current robot relative chassis speeds
robotRelativeOutputa function for setting the robot's field-relative chassis speeds
configHolonomicPathFollowerConfig for configuring the path following commands
driveSubsystema pointer to the subsystem for the robot's drive
+
+
+ +
+
+ +

◆ configureLTV() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void AutoBuilder::configureLTV (std::function< frc::Pose2d()> poseSupplier,
std::function< void(frc::Pose2d)> resetPose,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
const wpi::array< double, 3 > & Qelms,
const wpi::array< double, 2 > & Relms,
units::second_t dt,
ReplanningConfig replanningConfig,
frc2::Subsystem * driveSubsystem 
)
+ 		+static
+
+

Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path follower.

+
Parameters
+ + + + + + + + + + +
poseSuppliera supplier for the robot's current pose
resetPosea consumer for resetting the robot's pose
speedsSuppliera supplier for the robot's current chassis speeds
outputa consumer for setting the robot's chassis speeds
qelemsThe maximum desired error tolerance for each state.
relemsThe maximum desired control effort for each input.
dtPeriod of the robot control loop in seconds (default 0.02)
replanningConfigPath replanning configuration
driveSubsystemthe subsystem for the robot's drive
+
+
+ +
+
+ +

◆ configureLTV() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void AutoBuilder::configureLTV (std::function< frc::Pose2d()> poseSupplier,
std::function< void(frc::Pose2d)> resetPose,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
units::second_t dt,
ReplanningConfig replanningConfig,
frc2::Subsystem * driveSubsystem 
)
+ 		+static
+
+

Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path follower.

+
Parameters
+ + + + + + + + +
poseSuppliera supplier for the robot's current pose
resetPosea consumer for resetting the robot's pose
speedsSuppliera supplier for the robot's current chassis speeds
outputa consumer for setting the robot's chassis speeds
dtPeriod of the robot control loop in seconds (default 0.02)
replanningConfigPath replanning configuration
driveSubsystemthe subsystem for the robot's drive
+
+
+ +
+
+ +

◆ configureRamsete() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void AutoBuilder::configureRamsete (std::function< frc::Pose2d()> poseSupplier,
std::function< void(frc::Pose2d)> resetPose,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
ReplanningConfig replanningConfig,
frc2::Subsystem * driveSubsystem 
)
+ 		+static
+
+

Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.

+
Parameters
+ + + + + + + +
poseSuppliera supplier for the robot's current pose
resetPosea consumer for resetting the robot's pose
speedsSuppliera supplier for the robot's current chassis speeds
outputa consumer for setting the robot's chassis speeds
replanningConfigPath replanning configuration
driveSubsystemthe subsystem for the robot's drive
+
+
+ +
+
+ +

◆ configureRamsete() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void AutoBuilder::configureRamsete (std::function< frc::Pose2d()> poseSupplier,
std::function< void(frc::Pose2d)> resetPose,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
units::unit_t< frc::RamseteController::b_unit > b,
units::unit_t< frc::RamseteController::zeta_unit > zeta,
ReplanningConfig replanningConfig,
frc2::Subsystem * driveSubsystem 
)
+ 		+static
+
+

Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.

+
Parameters
+ + + + + + + + + +
poseSuppliera supplier for the robot's current pose
resetPosea consumer for resetting the robot's pose
speedsSuppliera supplier for the robot's current chassis speeds
outputa consumer for setting the robot's chassis speeds
bTuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term.
zetaTuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide more damping in response.
replanningConfigPath replanning configuration
driveSubsystemthe subsystem for the robot's drive
+
+
+ +
+
+ +

◆ followPathWithEvents()

+ +
+
+ + + + + +
+ + + + + + + + +
frc2::CommandPtr AutoBuilder::followPathWithEvents (std::shared_ptr< PathPlannerPath > path)
+ 		+static
+
+

Builds a command to follow a path with event markers.

+
Parameters
+ + +
paththe path to follow
+
+
+
Returns
a path following command with events for the given path
+ +
+
+ +

◆ getAutoCommandFromJson()

+ +
+
+ + + + + +
+ + + + + + + + +
frc2::CommandPtr AutoBuilder::getAutoCommandFromJson (const wpi::json & json)
+ 		+static
+
+

Builds an auto command from the given JSON.

+
Parameters
+ + +
jsonthe JSON to build the command from
+
+
+
Returns
an auto command built from the JSON
+ +
+
+ +

◆ isConfigured()

+ +
+
+ + + + + +
+ + + + + + + +
static bool pathplanner::AutoBuilder::isConfigured ()
+ 		+inlinestatic
+
+

Returns whether the AutoBuilder has been configured.

+
Returns
true if the AutoBuilder has been configured, false otherwise
+ +
+
+ +

◆ pathfindThenFollowPath()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
frc2::CommandPtr AutoBuilder::pathfindThenFollowPath (std::shared_ptr< PathPlannerPath > goalPath,
PathConstraints pathfindingConstraints,
units::meter_t rotationDelayDistance = 0_m 
)
+ 		+static
+
+

Build a command to pathfind to a given path, then follow that path. If not using a holonomic drivetrain, the pose rotation delay distance will have no effect.

+
Parameters
+ + + + +
goalPathThe path to pathfind to, then follow
pathfindingConstraintsThe constraints to use while pathfinding
rotationDelayDistanceThe distance the robot should move from the start position before attempting to rotate to the final rotation
+
+
+
Returns
A command to pathfind to a given path, then follow the path
+ +
+
+ +

◆ pathfindToPose()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
frc2::CommandPtr AutoBuilder::pathfindToPose (frc::Pose2d pose,
PathConstraints constraints,
units::meters_per_second_t goalEndVel = 0_mps,
units::meter_t rotationDelayDistance = 0_m 
)
+ 		+static
+
+

Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose rotation and rotation delay distance will have no effect.

+
Parameters
+ + + + + +
poseThe pose to pathfind to
constraintsThe constraints to use while pathfinding
goalEndVelocityThe goal end velocity of the robot when reaching the target pose
rotationDelayDistanceThe distance the robot should move from the start position before attempting to rotate to the final rotation
+
+
+
Returns
A command to pathfind to a given pose
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter-members.html b/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter-members.html new file mode 100644 index 00000000..90390ec7 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter-members.html @@ -0,0 +1,112 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::ChassisSpeedsRateLimiter Member List
+
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This is the complete list of members for pathplanner::ChassisSpeedsRateLimiter, including all inherited members.

+ + + + + +
calculate(const frc::ChassisSpeeds &input)pathplanner::ChassisSpeedsRateLimiter
ChassisSpeedsRateLimiter(units::meters_per_second_squared_t translationRateLimit, units::radians_per_second_squared_t rotationRateLimit, frc::ChassisSpeeds initialValue=frc::ChassisSpeeds { })pathplanner::ChassisSpeedsRateLimiterinline
reset(frc::ChassisSpeeds value)pathplanner::ChassisSpeedsRateLimiter
setRateLimits(units::meters_per_second_squared_t translationRateLimit, units::radians_per_second_squared_t rotationRateLimit)pathplanner::ChassisSpeedsRateLimiterinline
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter.html b/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter.html new file mode 100644 index 00000000..09b669c8 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter.html @@ -0,0 +1,279 @@ + + + + + + + +PathPlannerLib: pathplanner::ChassisSpeedsRateLimiter Class Reference + + + + + + + + + + + + + + +
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pathplanner::ChassisSpeedsRateLimiter Class Reference
+
+
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#include <ChassisSpeedsRateLimiter.h>

+ + + + + + + + + + +

+Public Member Functions

 ChassisSpeedsRateLimiter (units::meters_per_second_squared_t translationRateLimit, units::radians_per_second_squared_t rotationRateLimit, frc::ChassisSpeeds initialValue=frc::ChassisSpeeds { })
 
void reset (frc::ChassisSpeeds value)
 
constexpr void setRateLimits (units::meters_per_second_squared_t translationRateLimit, units::radians_per_second_squared_t rotationRateLimit)
 
frc::ChassisSpeeds calculate (const frc::ChassisSpeeds &input)
 
+

Detailed Description

+

Essentially a slew rate limiter for chassis speeds

+

This will properly apply a linear acceleration limit to the chassis speeds instead of applying it separately with 2 X/Y slew rate limiters

+

Constructor & Destructor Documentation

+ +

◆ ChassisSpeedsRateLimiter()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::ChassisSpeedsRateLimiter::ChassisSpeedsRateLimiter (units::meters_per_second_squared_t translationRateLimit,
units::radians_per_second_squared_t rotationRateLimit,
frc::ChassisSpeeds initialValue = frc::ChassisSpeeds { } 
)
+ 		+inline
+
+

Create a new chassis speeds limiter

+
Parameters
+ + + + +
translationRateLimitThe linear acceleration limit
rotationRateLimitThe angular acceleration limit
initialValueThe initial chassis speeds value
+
+
+ +
+
+

Member Function Documentation

+ +

◆ calculate()

+ +
+
+ + + + + + + + +
frc::ChassisSpeeds ChassisSpeedsRateLimiter::calculate (const frc::ChassisSpeeds & input)
+
+

Calculate the limited chassis speeds for a given input

+
Parameters
+ + +
inputThe target chassis speeds
+
+
+
Returns
The limited chassis speeds
+ +
+
+ +

◆ reset()

+ +
+
+ + + + + + + + +
void ChassisSpeedsRateLimiter::reset (frc::ChassisSpeeds value)
+
+

Reset the limiter

+
Parameters
+ + +
valueThe chassis speeds to reset with
+
+
+ +
+
+ +

◆ setRateLimits()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
constexpr void pathplanner::ChassisSpeedsRateLimiter::setRateLimits (units::meters_per_second_squared_t translationRateLimit,
units::radians_per_second_squared_t rotationRateLimit 
)
+ 		+inlineconstexpr
+
+

Set the acceleration limits

+
Parameters
+ + + +
translationRateLimitLinear acceleration limit
rotationRateLimitAngular acceleration limit
+
+
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter.js b/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter.js new file mode 100644 index 00000000..e645f0ff --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter.js @@ -0,0 +1,7 @@ +var classpathplanner_1_1ChassisSpeedsRateLimiter = +[ + [ "ChassisSpeedsRateLimiter", "classpathplanner_1_1ChassisSpeedsRateLimiter.html#a0f07f44ebfc281da3c862b832ab53826", null ], + [ "calculate", "classpathplanner_1_1ChassisSpeedsRateLimiter.html#ab2c8f08687c34f87039a2344a89ca6a4", null ], + [ "reset", "classpathplanner_1_1ChassisSpeedsRateLimiter.html#ac7efd541000522662cda915a3e46011d", null ], + [ "setRateLimits", "classpathplanner_1_1ChassisSpeedsRateLimiter.html#a16c38975d1ce985e50cdf90b54863577", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1CommandUtil-members.html b/docs/cpp/classpathplanner_1_1CommandUtil-members.html new file mode 100644 index 00000000..9512aebc --- /dev/null +++ b/docs/cpp/classpathplanner_1_1CommandUtil-members.html @@ -0,0 +1,110 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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+ + + +
commandFromJson(const wpi::json &json)pathplanner::CommandUtilstatic
wrappedEventCommand(std::shared_ptr< frc2::Command > command)pathplanner::CommandUtilstatic
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1CommandUtil.html b/docs/cpp/classpathplanner_1_1CommandUtil.html new file mode 100644 index 00000000..8add3245 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1CommandUtil.html @@ -0,0 +1,190 @@ + + + + + + + +PathPlannerLib: pathplanner::CommandUtil Class Reference + + + + + + + + + + + + + + +
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+Static Public Member Functions

static frc2::CommandPtr wrappedEventCommand (std::shared_ptr< frc2::Command > command)
 
static frc2::CommandPtr commandFromJson (const wpi::json &json)
 
+

Member Function Documentation

+ +

◆ commandFromJson()

+ +
+
+ + + + + +
+ + + + + + + + +
frc2::CommandPtr CommandUtil::commandFromJson (const wpi::json & json)
+ 		+static
+
+

Builds a command from the given JSON.

+
Parameters
+ + +
commandJsonthe JSON to build the command from
+
+
+
Returns
a command built from the JSON
+ +
+
+ +

◆ wrappedEventCommand()

+ +
+
+ + + + + +
+ + + + + + + + +
frc2::CommandPtr CommandUtil::wrappedEventCommand (std::shared_ptr< frc2::Command > command)
+ 		+static
+
+

Wraps a command with a functional command that calls the command's initialize, execute, end, and isFinished methods. This allows a command in the event map to be reused multiple times in different command groups

+
Parameters
+ + +
commandshared pointer to the command to wrap
+
+
+
Returns
a functional command that wraps the given command
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1ConstraintsZone-members.html b/docs/cpp/classpathplanner_1_1ConstraintsZone-members.html new file mode 100644 index 00000000..b6c349d3 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ConstraintsZone-members.html @@ -0,0 +1,117 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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+
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+ +

This is the complete list of members for pathplanner::ConstraintsZone, including all inherited members.

+ + + + + + + + + + +
ConstraintsZone(double minWaypointRelativePos, double maxWaypointRelativePos, PathConstraints constraints)pathplanner::ConstraintsZoneinline
forSegmentIndex(int segmentIndex) constpathplanner::ConstraintsZoneinline
fromJson(const wpi::json &json)pathplanner::ConstraintsZonestatic
getConstraints() constpathplanner::ConstraintsZoneinline
getMaxWaypointRelativePos() constpathplanner::ConstraintsZoneinline
getMinWaypointRelativePos() constpathplanner::ConstraintsZoneinline
isWithinZone(double t) constpathplanner::ConstraintsZoneinline
operator==(const ConstraintsZone &other) const (defined in pathplanner::ConstraintsZone)pathplanner::ConstraintsZoneinline
overlapsRange(double minPos, double maxPos) constpathplanner::ConstraintsZoneinline
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1ConstraintsZone.html b/docs/cpp/classpathplanner_1_1ConstraintsZone.html new file mode 100644 index 00000000..8346d652 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ConstraintsZone.html @@ -0,0 +1,422 @@ + + + + + + + +PathPlannerLib: pathplanner::ConstraintsZone Class Reference + + + + + + + + + + + + + + +
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+Public Member Functions

constexpr ConstraintsZone (double minWaypointRelativePos, double maxWaypointRelativePos, PathConstraints constraints)
 
constexpr double getMinWaypointRelativePos () const
 
constexpr double getMaxWaypointRelativePos () const
 
constexpr const PathConstraints & getConstraints () const
 
constexpr bool isWithinZone (double t) const
 
constexpr bool overlapsRange (double minPos, double maxPos) const
 
constexpr ConstraintsZone forSegmentIndex (int segmentIndex) const
 
+bool operator== (const ConstraintsZone &other) const
 
+ + + +

+Static Public Member Functions

static ConstraintsZone fromJson (const wpi::json &json)
 
+

Constructor & Destructor Documentation

+ +

◆ ConstraintsZone()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
constexpr pathplanner::ConstraintsZone::ConstraintsZone (double minWaypointRelativePos,
double maxWaypointRelativePos,
PathConstraints constraints 
)
+ 		+inlineconstexpr
+
+

Create a new constraints zone

+
Parameters
+ + + + +
minWaypointRelativePosStarting position of the zone
maxWaypointRelativePosEnd position of the zone
constraintsThe constraints to apply within the zone
+
+
+ +
+
+

Member Function Documentation

+ +

◆ forSegmentIndex()

+ +
+
+ + + + + +
+ + + + + + + + +
constexpr ConstraintsZone pathplanner::ConstraintsZone::forSegmentIndex (int segmentIndex) const
+ 		+inlineconstexpr
+
+

Transform the positions of this zone for a given segment number.

+

For example, a zone from [1.5, 2.0] for the segment 1 will have the positions [0.5, 1.0]

+
Parameters
+ + +
segmentIndexThe segment index to transform positions for
+
+
+
Returns
The transformed zone
+ +
+
+ +

◆ fromJson()

+ +
+
+ + + + + +
+ + + + + + + + +
ConstraintsZone ConstraintsZone::fromJson (const wpi::json & json)
+ 		+static
+
+

Create a constraints zone from json

+
Parameters
+ + +
jsonA json reference representing a constraints zone
+
+
+
Returns
The constraints zone defined by the given json object
+ +
+
+ +

◆ getConstraints()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr const PathConstraints & pathplanner::ConstraintsZone::getConstraints () const
+ 		+inlineconstexpr
+
+

Get the constraints for this zone

+
Returns
The constraints for this zone
+ +
+
+ +

◆ getMaxWaypointRelativePos()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr double pathplanner::ConstraintsZone::getMaxWaypointRelativePos () const
+ 		+inlineconstexpr
+
+

Get the end position of the zone

+
Returns
Waypoint relative end position
+ +
+
+ +

◆ getMinWaypointRelativePos()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr double pathplanner::ConstraintsZone::getMinWaypointRelativePos () const
+ 		+inlineconstexpr
+
+

Get the starting position of the zone

+
Returns
Waypoint relative starting position
+ +
+
+ +

◆ isWithinZone()

+ +
+
+ + + + + +
+ + + + + + + + +
constexpr bool pathplanner::ConstraintsZone::isWithinZone (double t) const
+ 		+inlineconstexpr
+
+

Get if a given waypoint relative position is within this zone

+
Parameters
+ + +
tWaypoint relative position
+
+
+
Returns
True if given position is within this zone
+ +
+
+ +

◆ overlapsRange()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
constexpr bool pathplanner::ConstraintsZone::overlapsRange (double minPos,
double maxPos 
) const
+ 		+inlineconstexpr
+
+

Get if this zone overlaps a given range

+
Parameters
+ + + +
minPosThe minimum waypoint relative position of the range
maxPosThe maximum waypoint relative position of the range
+
+
+
Returns
True if any part of this zone is within the given range
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1ConstraintsZone.js b/docs/cpp/classpathplanner_1_1ConstraintsZone.js new file mode 100644 index 00000000..2484db6e --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ConstraintsZone.js @@ -0,0 +1,10 @@ +var classpathplanner_1_1ConstraintsZone = +[ + [ "ConstraintsZone", "classpathplanner_1_1ConstraintsZone.html#a257d618ea261f5e19e7bf8674e0fc8d7", null ], + [ "forSegmentIndex", "classpathplanner_1_1ConstraintsZone.html#a5479868c4125fafcfb4b7f651e5fa535", null ], + [ "getConstraints", "classpathplanner_1_1ConstraintsZone.html#a51f771e5addb6dbe00e907f68da48b6d", null ], + [ "getMaxWaypointRelativePos", "classpathplanner_1_1ConstraintsZone.html#acf6c9117b71f5a740985790388092b6e", null ], + [ "getMinWaypointRelativePos", "classpathplanner_1_1ConstraintsZone.html#a1ddacd3bd0b2d590acbfa93b0f0ddaec", null ], + [ "isWithinZone", "classpathplanner_1_1ConstraintsZone.html#af1860116d986465f83e666cf302849a3", null ], + [ "overlapsRange", "classpathplanner_1_1ConstraintsZone.html#a2fcf8a1f73da55eef874f8a283abe2f3", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1EventMarker-members.html b/docs/cpp/classpathplanner_1_1EventMarker-members.html new file mode 100644 index 00000000..482c6267 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1EventMarker-members.html @@ -0,0 +1,117 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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+
+
+ +

This is the complete list of members for pathplanner::EventMarker, including all inherited members.

+ + + + + + + + + + +
EventMarker(double waypointRelativePos, frc2::CommandPtr &&command, units::meter_t minimumTriggerDistance=0.5_m)pathplanner::EventMarkerinline
EventMarker(double waypointRelativePos, std::shared_ptr< frc2::Command > command, units::meter_t minimumTriggerDistance=0.5_m)pathplanner::EventMarkerinline
fromJson(const wpi::json &json)pathplanner::EventMarkerstatic
getCommand() constpathplanner::EventMarkerinline
getMinimumTriggerDistance() constpathplanner::EventMarkerinline
getWaypointRelativePos() constpathplanner::EventMarkerinline
reset(frc::Pose2d robotPose)pathplanner::EventMarkerinline
setMarkerPosition(frc::Translation2d fieldPosition)pathplanner::EventMarkerinline
shouldTrigger(frc::Pose2d robotPose)pathplanner::EventMarker
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1EventMarker.html b/docs/cpp/classpathplanner_1_1EventMarker.html new file mode 100644 index 00000000..389999ed --- /dev/null +++ b/docs/cpp/classpathplanner_1_1EventMarker.html @@ -0,0 +1,450 @@ + + + + + + + +PathPlannerLib: pathplanner::EventMarker Class Reference + + + + + + + + + + + + + + +
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+Public Member Functions

 EventMarker (double waypointRelativePos, frc2::CommandPtr &&command, units::meter_t minimumTriggerDistance=0.5_m)
 
 EventMarker (double waypointRelativePos, std::shared_ptr< frc2::Command > command, units::meter_t minimumTriggerDistance=0.5_m)
 
constexpr void reset (frc::Pose2d robotPose)
 
bool shouldTrigger (frc::Pose2d robotPose)
 
std::shared_ptr< frc2::Command > getCommand () const
 
constexpr double getWaypointRelativePos () const
 
constexpr void setMarkerPosition (frc::Translation2d fieldPosition)
 
constexpr units::meter_t getMinimumTriggerDistance () const
 
+ + + +

+Static Public Member Functions

static EventMarker fromJson (const wpi::json &json)
 
+

Constructor & Destructor Documentation

+ +

◆ EventMarker() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::EventMarker::EventMarker (double waypointRelativePos,
frc2::CommandPtr && command,
units::meter_t minimumTriggerDistance = 0.5_m 
)
+ 		+inline
+
+

Create a new event marker

+
Parameters
+ + + + +
waypointRelativePosThe waypoint relative position of the marker
commandThe command that should be triggered at this marker
minimumTriggerDistanceThe minimum distance the robot must be within for this marker to be triggered
+
+
+ +
+
+ +

◆ EventMarker() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::EventMarker::EventMarker (double waypointRelativePos,
std::shared_ptr< frc2::Command > command,
units::meter_t minimumTriggerDistance = 0.5_m 
)
+ 		+inline
+
+

Create a new event marker

+
Parameters
+ + + + +
waypointRelativePosThe waypoint relative position of the marker
commandThe command that should be triggered at this marker
minimumTriggerDistanceThe minimum distance the robot must be within for this marker to be triggered
+
+
+ +
+
+

Member Function Documentation

+ +

◆ fromJson()

+ +
+
+ + + + + +
+ + + + + + + + +
EventMarker EventMarker::fromJson (const wpi::json & json)
+ 		+static
+
+

Create an event marker from json

+
Parameters
+ + +
jsonjson reference representing an event marker
+
+
+
Returns
The event marker defined by the given json object
+ +
+
+ +

◆ getCommand()

+ +
+
+ + + + + +
+ + + + + + + +
std::shared_ptr< frc2::Command > pathplanner::EventMarker::getCommand () const
+ 		+inline
+
+

Get the command associated with this marker

+
Returns
Command for this marker
+ +
+
+ +

◆ getMinimumTriggerDistance()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr units::meter_t pathplanner::EventMarker::getMinimumTriggerDistance () const
+ 		+inlineconstexpr
+
+

Get the minimum trigger distance for this marker

+
Returns
The minimum trigger distance in meters
+ +
+
+ +

◆ getWaypointRelativePos()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr double pathplanner::EventMarker::getWaypointRelativePos () const
+ 		+inlineconstexpr
+
+

Get the waypoint relative position of this marker

+
Returns
Waypoint relative position of this marker
+ +
+
+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + + +
constexpr void pathplanner::EventMarker::reset (frc::Pose2d robotPose)
+ 		+inlineconstexpr
+
+

Reset the current robot position

+
Parameters
+ + +
robotPoseThe current pose of the robot
+
+
+ +
+
+ +

◆ setMarkerPosition()

+ +
+
+ + + + + +
+ + + + + + + + +
constexpr void pathplanner::EventMarker::setMarkerPosition (frc::Translation2d fieldPosition)
+ 		+inlineconstexpr
+
+

Set the field position of this event marker. This is used internally during path creation and should likely not be used by an end user

+
Parameters
+ + +
fieldPositionPosition of the marker on the field
+
+
+ +
+
+ +

◆ shouldTrigger()

+ +
+
+ + + + + + + + +
bool EventMarker::shouldTrigger (frc::Pose2d robotPose)
+
+

Get if this event marker should be triggered

+
Parameters
+ + +
robotPoseCurrent pose of the robot
+
+
+
Returns
True if this marker should be triggered
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1EventMarker.js b/docs/cpp/classpathplanner_1_1EventMarker.js new file mode 100644 index 00000000..a0b8a7d0 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1EventMarker.js @@ -0,0 +1,11 @@ +var classpathplanner_1_1EventMarker = +[ + [ "EventMarker", "classpathplanner_1_1EventMarker.html#a12e800aa86657c34b19e61c4d828a46d", null ], + [ "EventMarker", "classpathplanner_1_1EventMarker.html#acdc27eba3b17ab1402a6d31549f24a66", null ], + [ "getCommand", "classpathplanner_1_1EventMarker.html#a558e9cc79c680d08268b880ecb53087a", null ], + [ "getMinimumTriggerDistance", "classpathplanner_1_1EventMarker.html#a6ec068726b35bc1ebd3770a83a59219d", null ], + [ "getWaypointRelativePos", "classpathplanner_1_1EventMarker.html#a6cb6d47109992bd120f3ede6410960aa", null ], + [ "reset", "classpathplanner_1_1EventMarker.html#ad27d886428a8e07857defae973f41acb", null ], + [ "setMarkerPosition", "classpathplanner_1_1EventMarker.html#a328b5edeb7af5f88f7a54a945ba2f683", null ], + [ "shouldTrigger", "classpathplanner_1_1EventMarker.html#a0c027f6fdcf0f364a89565a1ccd35090", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1FollowPathCommand-members.html b/docs/cpp/classpathplanner_1_1FollowPathCommand-members.html new file mode 100644 index 00000000..ecd2cf6f --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathCommand-members.html @@ -0,0 +1,113 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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+
+
+ +

This is the complete list of members for pathplanner::FollowPathCommand, including all inherited members.

+ + + + + + +
End(bool interrupted) override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
Execute() override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
FollowPathCommand(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, ReplanningConfig replanningConfig, frc2::Requirements requirements)pathplanner::FollowPathCommand
Initialize() override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
IsFinished() override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1FollowPathCommand.html b/docs/cpp/classpathplanner_1_1FollowPathCommand.html new file mode 100644 index 00000000..f7fb7966 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathCommand.html @@ -0,0 +1,214 @@ + + + + + + + +PathPlannerLib: pathplanner::FollowPathCommand Class Reference + + + + + + + + + + + + + + +
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pathplanner::FollowPathCommand Class Reference
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+
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+ + +pathplanner::FollowPathHolonomic +pathplanner::FollowPathLTV +pathplanner::FollowPathRamsete + +
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+Public Member Functions

 FollowPathCommand (std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, ReplanningConfig replanningConfig, frc2::Requirements requirements)
 
+void Initialize () override
 
+void Execute () override
 
+bool IsFinished () override
 
+void End (bool interrupted) override
 
+

Constructor & Destructor Documentation

+ +

◆ FollowPathCommand()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
FollowPathCommand::FollowPathCommand (std::shared_ptr< PathPlannerPath > path,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
std::unique_ptr< PathFollowingController > controller,
ReplanningConfig replanningConfig,
frc2::Requirements requirements 
)
+
+

Construct a base path following command

+
Parameters
+ + + + + + + + +
pathThe path to follow
poseSupplierFunction that supplies the current field-relative pose of the robot
speedsSupplierFunction that supplies the current robot-relative chassis speeds
outputFunction that will apply the robot-relative output speeds of this command
controllerPath following controller that will be used to follow the path
replanningConfigPath replanning configuration
requirementsSubsystems required by this command, usually just the drive subsystem
+
+
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1FollowPathCommand.js b/docs/cpp/classpathplanner_1_1FollowPathCommand.js new file mode 100644 index 00000000..b46478f0 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathCommand.js @@ -0,0 +1,4 @@ +var classpathplanner_1_1FollowPathCommand = +[ + [ "FollowPathCommand", "classpathplanner_1_1FollowPathCommand.html#a6b078e9fe384cabed1c3ac7083d11a65", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1FollowPathCommand.png b/docs/cpp/classpathplanner_1_1FollowPathCommand.png new file mode 100644 index 00000000..59c06b7f Binary files /dev/null and b/docs/cpp/classpathplanner_1_1FollowPathCommand.png differ diff --git a/docs/cpp/classpathplanner_1_1FollowPathHolonomic-members.html b/docs/cpp/classpathplanner_1_1FollowPathHolonomic-members.html new file mode 100644 index 00000000..23680159 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathHolonomic-members.html @@ -0,0 +1,115 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::FollowPathHolonomic Member List
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This is the complete list of members for pathplanner::FollowPathHolonomic, including all inherited members.

+ + + + + + + + +
End(bool interrupted) override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
Execute() override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
FollowPathCommand(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, ReplanningConfig replanningConfig, frc2::Requirements requirements)pathplanner::FollowPathCommand
FollowPathHolonomic(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, PIDConstants translationConstants, PIDConstants rotationConstants, units::meters_per_second_t maxModuleSpeed, units::meter_t driveBaseRadius, ReplanningConfig replanningConfig, frc2::Requirements requirements, units::second_t period=0.02_s)pathplanner::FollowPathHolonomicinline
FollowPathHolonomic(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, HolonomicPathFollowerConfig config, frc2::Requirements requirements)pathplanner::FollowPathHolonomicinline
Initialize() override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
IsFinished() override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1FollowPathHolonomic.html b/docs/cpp/classpathplanner_1_1FollowPathHolonomic.html new file mode 100644 index 00000000..30883f85 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathHolonomic.html @@ -0,0 +1,324 @@ + + + + + + + +PathPlannerLib: pathplanner::FollowPathHolonomic Class Reference + + + + + + + + + + + + + + +
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+Public Member Functions

 FollowPathHolonomic (std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, PIDConstants translationConstants, PIDConstants rotationConstants, units::meters_per_second_t maxModuleSpeed, units::meter_t driveBaseRadius, ReplanningConfig replanningConfig, frc2::Requirements requirements, units::second_t period=0.02_s)
 
 FollowPathHolonomic (std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, HolonomicPathFollowerConfig config, frc2::Requirements requirements)
 
- Public Member Functions inherited from pathplanner::FollowPathCommand
 FollowPathCommand (std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, ReplanningConfig replanningConfig, frc2::Requirements requirements)
 
+void Initialize () override
 
+void Execute () override
 
+bool IsFinished () override
 
+void End (bool interrupted) override
 
+

Constructor & Destructor Documentation

+ +

◆ FollowPathHolonomic() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::FollowPathHolonomic::FollowPathHolonomic (std::shared_ptr< PathPlannerPath > path,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
PIDConstants translationConstants,
PIDConstants rotationConstants,
units::meters_per_second_t maxModuleSpeed,
units::meter_t driveBaseRadius,
ReplanningConfig replanningConfig,
frc2::Requirements requirements,
units::second_t period = 0.02_s 
)
+ 		+inline
+
+

Construct a path following command that will use a holonomic drive controller for holonomic drive trains

+
Parameters
+ + + + + + + + + + + + +
pathThe path to follow
poseSupplierFunction that supplies the current field-relative pose of the robot
speedsSupplierFunction that supplies the current robot-relative chassis speeds
outputFunction that will apply the robot-relative output speeds of this command
translationConstantsPID constants for the translation PID controllers
rotationConstantsPID constants for the rotation controller
maxModuleSpeedThe max speed of a drive module in meters/sec
driveBaseRadiusThe radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2
replanningConfigPath replanning configuration
requirementsSubsystems required by this command, usually just the drive subsystem
periodPeriod of the control loop in seconds, default is 0.02s
+
+
+ +
+
+ +

◆ FollowPathHolonomic() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::FollowPathHolonomic::FollowPathHolonomic (std::shared_ptr< PathPlannerPath > path,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
HolonomicPathFollowerConfig config,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Construct a path following command that will use a holonomic drive controller for holonomic drive trains

+
Parameters
+ + + + + + + +
pathThe path to follow
poseSupplierFunction that supplies the current field-relative pose of the robot
speedsSupplierFunction that supplies the current robot-relative chassis speeds
outputFunction that will apply the robot-relative output speeds of this command
configHolonomic path follower configuration
requirementsSubsystems required by this command, usually just the drive subsystem
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1FollowPathHolonomic.js b/docs/cpp/classpathplanner_1_1FollowPathHolonomic.js new file mode 100644 index 00000000..189a26a1 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathHolonomic.js @@ -0,0 +1,5 @@ +var classpathplanner_1_1FollowPathHolonomic = +[ + [ "FollowPathHolonomic", "classpathplanner_1_1FollowPathHolonomic.html#a5ed966701059b6f740f0f351fb106f24", null ], + [ "FollowPathHolonomic", "classpathplanner_1_1FollowPathHolonomic.html#a0105d698a3b57612b241cde73beaf9f8", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1FollowPathHolonomic.png b/docs/cpp/classpathplanner_1_1FollowPathHolonomic.png new file mode 100644 index 00000000..a3317503 Binary files /dev/null and b/docs/cpp/classpathplanner_1_1FollowPathHolonomic.png differ diff --git a/docs/cpp/classpathplanner_1_1FollowPathLTV-members.html b/docs/cpp/classpathplanner_1_1FollowPathLTV-members.html new file mode 100644 index 00000000..ca97729d --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathLTV-members.html @@ -0,0 +1,115 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::FollowPathLTV Member List
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This is the complete list of members for pathplanner::FollowPathLTV, including all inherited members.

+ + + + + + + + +
End(bool interrupted) override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
Execute() override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
FollowPathCommand(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, ReplanningConfig replanningConfig, frc2::Requirements requirements)pathplanner::FollowPathCommand
FollowPathLTV(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, const wpi::array< double, 3 > &Qelms, const wpi::array< double, 2 > &Relms, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)pathplanner::FollowPathLTVinline
FollowPathLTV(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)pathplanner::FollowPathLTVinline
Initialize() override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
IsFinished() override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1FollowPathLTV.html b/docs/cpp/classpathplanner_1_1FollowPathLTV.html new file mode 100644 index 00000000..f7357c0c --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathLTV.html @@ -0,0 +1,317 @@ + + + + + + + +PathPlannerLib: pathplanner::FollowPathLTV Class Reference + + + + + + + + + + + + + + +
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+Inheritance diagram for pathplanner::FollowPathLTV:
+
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+ + +pathplanner::FollowPathCommand + +
+ + + + + + + + + + + + + + + + + +

+Public Member Functions

 FollowPathLTV (std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, const wpi::array< double, 3 > &Qelms, const wpi::array< double, 2 > &Relms, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)
 
 FollowPathLTV (std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)
 
- Public Member Functions inherited from pathplanner::FollowPathCommand
 FollowPathCommand (std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, ReplanningConfig replanningConfig, frc2::Requirements requirements)
 
+void Initialize () override
 
+void Execute () override
 
+bool IsFinished () override
 
+void End (bool interrupted) override
 
+

Constructor & Destructor Documentation

+ +

◆ FollowPathLTV() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::FollowPathLTV::FollowPathLTV (std::shared_ptr< PathPlannerPath > path,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
const wpi::array< double, 3 > & Qelms,
const wpi::array< double, 2 > & Relms,
units::second_t dt,
ReplanningConfig replanningConfig,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Create a path following command that will use an LTV unicycle controller for differential drive trains

+
Parameters
+ + + + + + + + + + +
pathThe path to follow
poseSupplierFunction that supplies the current field-relative pose of the robot
speedsSupplierFunction that supplies the current robot-relative chassis speeds
outputFunction that will apply the robot-relative output speeds of this command
QelemsThe maximum desired error tolerance for each state.
RelemsThe maximum desired control effort for each input.
dtThe amount of time between each robot control loop, default is 0.02s
replanningConfigPath replanning configuration
requirementsSubsystems required by this command, usually just the drive subsystem
+
+
+ +
+
+ +

◆ FollowPathLTV() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::FollowPathLTV::FollowPathLTV (std::shared_ptr< PathPlannerPath > path,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
units::second_t dt,
ReplanningConfig replanningConfig,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Create a path following command that will use an LTV unicycle controller for differential drive trains

+
Parameters
+ + + + + + + + +
pathThe path to follow
poseSupplierFunction that supplies the current field-relative pose of the robot
speedsSupplierFunction that supplies the current robot-relative chassis speeds
outputFunction that will apply the robot-relative output speeds of this command
dtThe amount of time between each robot control loop, default is 0.02s
replanningConfigPath replanning configuration
requirementsSubsystems required by this command, usually just the drive subsystem
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1FollowPathLTV.js b/docs/cpp/classpathplanner_1_1FollowPathLTV.js new file mode 100644 index 00000000..67ee9a21 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathLTV.js @@ -0,0 +1,5 @@ +var classpathplanner_1_1FollowPathLTV = +[ + [ "FollowPathLTV", "classpathplanner_1_1FollowPathLTV.html#a2fae1ff62b4fab22042c328dcd69af07", null ], + [ "FollowPathLTV", "classpathplanner_1_1FollowPathLTV.html#ac6333230362e621c1cd8afbc0c2f8b7a", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1FollowPathLTV.png b/docs/cpp/classpathplanner_1_1FollowPathLTV.png new file mode 100644 index 00000000..ca81a6e6 Binary files /dev/null and b/docs/cpp/classpathplanner_1_1FollowPathLTV.png differ diff --git a/docs/cpp/classpathplanner_1_1FollowPathRamsete-members.html b/docs/cpp/classpathplanner_1_1FollowPathRamsete-members.html new file mode 100644 index 00000000..2d8df71e --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathRamsete-members.html @@ -0,0 +1,115 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::FollowPathRamsete Member List
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This is the complete list of members for pathplanner::FollowPathRamsete, including all inherited members.

+ + + + + + + + +
End(bool interrupted) override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
Execute() override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
FollowPathCommand(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, ReplanningConfig replanningConfig, frc2::Requirements requirements)pathplanner::FollowPathCommand
FollowPathRamsete(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, units::unit_t< frc::RamseteController::b_unit > b, units::unit_t< frc::RamseteController::zeta_unit > zeta, ReplanningConfig replanningConfig, frc2::Requirements requirements)pathplanner::FollowPathRamseteinline
FollowPathRamsete(std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, ReplanningConfig replanningConfig, frc2::Requirements requirements)pathplanner::FollowPathRamseteinline
Initialize() override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
IsFinished() override (defined in pathplanner::FollowPathCommand)pathplanner::FollowPathCommand
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1FollowPathRamsete.html b/docs/cpp/classpathplanner_1_1FollowPathRamsete.html new file mode 100644 index 00000000..33dab090 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathRamsete.html @@ -0,0 +1,303 @@ + + + + + + + +PathPlannerLib: pathplanner::FollowPathRamsete Class Reference + + + + + + + + + + + + + + +
+
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pathplanner::FollowPathRamsete Class Reference
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+Inheritance diagram for pathplanner::FollowPathRamsete:
+
+
+ + +pathplanner::FollowPathCommand + +
+ + + + + + + + + + + + + + + + + +

+Public Member Functions

 FollowPathRamsete (std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, units::unit_t< frc::RamseteController::b_unit > b, units::unit_t< frc::RamseteController::zeta_unit > zeta, ReplanningConfig replanningConfig, frc2::Requirements requirements)
 
 FollowPathRamsete (std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, ReplanningConfig replanningConfig, frc2::Requirements requirements)
 
- Public Member Functions inherited from pathplanner::FollowPathCommand
 FollowPathCommand (std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, ReplanningConfig replanningConfig, frc2::Requirements requirements)
 
+void Initialize () override
 
+void Execute () override
 
+bool IsFinished () override
 
+void End (bool interrupted) override
 
+

Constructor & Destructor Documentation

+ +

◆ FollowPathRamsete() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::FollowPathRamsete::FollowPathRamsete (std::shared_ptr< PathPlannerPath > path,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
units::unit_t< frc::RamseteController::b_unit > b,
units::unit_t< frc::RamseteController::zeta_unit > zeta,
ReplanningConfig replanningConfig,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Construct a path following command that will use a Ramsete path following controller for differential drive trains

+
Parameters
+ + + + + + + + + +
pathThe path to follow
poseSupplierFunction that supplies the current field-relative pose of the robot
speedsSupplierFunction that supplies the current robot-relative chassis speeds
outputFunction that will apply the robot-relative output speeds of this command
bTuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term.
zetaTuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide more damping in response.
replanningConfigPath replanning configuration
requirementsSubsystems required by this command, usually just the drive subsystem
+
+
+ +
+
+ +

◆ FollowPathRamsete() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::FollowPathRamsete::FollowPathRamsete (std::shared_ptr< PathPlannerPath > path,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
ReplanningConfig replanningConfig,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Construct a path following command that will use a Ramsete path following controller for differential drive trains

+
Parameters
+ + + + + + + +
pathThe path to follow
poseSupplierFunction that supplies the current field-relative pose of the robot
speedsSupplierFunction that supplies the current robot-relative chassis speeds
outputFunction that will apply the robot-relative output speeds of this command
replanningConfigPath replanning configuration
requirementsSubsystems required by this command, usually just the drive subsystem
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1FollowPathRamsete.js b/docs/cpp/classpathplanner_1_1FollowPathRamsete.js new file mode 100644 index 00000000..4a3ccbe7 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathRamsete.js @@ -0,0 +1,5 @@ +var classpathplanner_1_1FollowPathRamsete = +[ + [ "FollowPathRamsete", "classpathplanner_1_1FollowPathRamsete.html#a71fb0c88a78904e3b0b81c7dec82a225", null ], + [ "FollowPathRamsete", "classpathplanner_1_1FollowPathRamsete.html#a30639dcdb783b7b37697a211cb20c4b9", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1FollowPathRamsete.png b/docs/cpp/classpathplanner_1_1FollowPathRamsete.png new file mode 100644 index 00000000..b444cb0d Binary files /dev/null and b/docs/cpp/classpathplanner_1_1FollowPathRamsete.png differ diff --git a/docs/cpp/classpathplanner_1_1FollowPathWithEvents-members.html b/docs/cpp/classpathplanner_1_1FollowPathWithEvents-members.html new file mode 100644 index 00000000..77d3a6b8 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathWithEvents-members.html @@ -0,0 +1,113 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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This is the complete list of members for pathplanner::FollowPathWithEvents, including all inherited members.

+ + + + + + +
End(bool interrupted) override (defined in pathplanner::FollowPathWithEvents)pathplanner::FollowPathWithEvents
Execute() override (defined in pathplanner::FollowPathWithEvents)pathplanner::FollowPathWithEvents
FollowPathWithEvents(std::unique_ptr< frc2::Command > &&pathFollowingCommand, std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier)pathplanner::FollowPathWithEvents
Initialize() override (defined in pathplanner::FollowPathWithEvents)pathplanner::FollowPathWithEvents
IsFinished() override (defined in pathplanner::FollowPathWithEvents)pathplanner::FollowPathWithEvents
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1FollowPathWithEvents.html b/docs/cpp/classpathplanner_1_1FollowPathWithEvents.html new file mode 100644 index 00000000..9bcbcbf8 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathWithEvents.html @@ -0,0 +1,181 @@ + + + + + + + +PathPlannerLib: pathplanner::FollowPathWithEvents Class Reference + + + + + + + + + + + + + + +
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+Inheritance diagram for pathplanner::FollowPathWithEvents:
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+Public Member Functions

 FollowPathWithEvents (std::unique_ptr< frc2::Command > &&pathFollowingCommand, std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier)
 
+void Initialize () override
 
+void Execute () override
 
+bool IsFinished () override
 
+void End (bool interrupted) override
 
+

Constructor & Destructor Documentation

+ +

◆ FollowPathWithEvents()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
FollowPathWithEvents::FollowPathWithEvents (std::unique_ptr< frc2::Command > && pathFollowingCommand,
std::shared_ptr< PathPlannerPath > path,
std::function< frc::Pose2d()> poseSupplier 
)
+
+

Constructs a new FollowPathWithEvents command.

+
Parameters
+ + + + +
pathFollowingCommandthe command to follow the path
paththe path to follow
poseSuppliera supplier for the robot's current pose
+
+
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1FollowPathWithEvents.js b/docs/cpp/classpathplanner_1_1FollowPathWithEvents.js new file mode 100644 index 00000000..e6f6f014 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1FollowPathWithEvents.js @@ -0,0 +1,4 @@ +var classpathplanner_1_1FollowPathWithEvents = +[ + [ "FollowPathWithEvents", "classpathplanner_1_1FollowPathWithEvents.html#a050013584a669405f6913426a9e1d05a", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1FollowPathWithEvents.png b/docs/cpp/classpathplanner_1_1FollowPathWithEvents.png new file mode 100644 index 00000000..098ddb96 Binary files /dev/null and b/docs/cpp/classpathplanner_1_1FollowPathWithEvents.png differ diff --git a/docs/cpp/classpathplanner_1_1GoalEndState-members.html b/docs/cpp/classpathplanner_1_1GoalEndState-members.html new file mode 100644 index 00000000..1ca45375 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1GoalEndState-members.html @@ -0,0 +1,113 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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fromJson(const wpi::json &json)pathplanner::GoalEndStatestatic
getRotation() constpathplanner::GoalEndStateinline
getVelocity() constpathplanner::GoalEndStateinline
GoalEndState(units::meters_per_second_t velocity, frc::Rotation2d rotation)pathplanner::GoalEndStateinline
operator==(const GoalEndState &other) const (defined in pathplanner::GoalEndState)pathplanner::GoalEndStateinline
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1GoalEndState.html b/docs/cpp/classpathplanner_1_1GoalEndState.html new file mode 100644 index 00000000..73297300 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1GoalEndState.html @@ -0,0 +1,266 @@ + + + + + + + +PathPlannerLib: pathplanner::GoalEndState Class Reference + + + + + + + + + + + + + + +
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+Public Member Functions

constexpr GoalEndState (units::meters_per_second_t velocity, frc::Rotation2d rotation)
 
constexpr units::meters_per_second_t getVelocity () const
 
constexpr const frc::Rotation2d & getRotation () const
 
+bool operator== (const GoalEndState &other) const
 
+ + + +

+Static Public Member Functions

static GoalEndState fromJson (const wpi::json &json)
 
+

Constructor & Destructor Documentation

+ +

◆ GoalEndState()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
constexpr pathplanner::GoalEndState::GoalEndState (units::meters_per_second_t velocity,
frc::Rotation2d rotation 
)
+ 		+inlineconstexpr
+
+

Create a new goal end state

+
Parameters
+ + + +
velocityThe goal end velocity (M/S)
rotationThe goal rotation
+
+
+ +
+
+

Member Function Documentation

+ +

◆ fromJson()

+ +
+
+ + + + + +
+ + + + + + + + +
GoalEndState GoalEndState::fromJson (const wpi::json & json)
+ 		+static
+
+

Create a goal end state from json

+
Parameters
+ + +
jsonjson reference representing a goal end state
+
+
+
Returns
The goal end state defined by the given json
+ +
+
+ +

◆ getRotation()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr const frc::Rotation2d & pathplanner::GoalEndState::getRotation () const
+ 		+inlineconstexpr
+
+

Get the goal end rotation

+
Returns
Goal rotation
+ +
+
+ +

◆ getVelocity()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr units::meters_per_second_t pathplanner::GoalEndState::getVelocity () const
+ 		+inlineconstexpr
+
+

Get the goal end velocity

+
Returns
Goal end velocity (M/S)
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1GoalEndState.js b/docs/cpp/classpathplanner_1_1GoalEndState.js new file mode 100644 index 00000000..ee1ccb42 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1GoalEndState.js @@ -0,0 +1,6 @@ +var classpathplanner_1_1GoalEndState = +[ + [ "GoalEndState", "classpathplanner_1_1GoalEndState.html#a41dfd9669b9d9eaf81655e26377bee2a", null ], + [ "getRotation", "classpathplanner_1_1GoalEndState.html#a7dbe48e50285bda3e39881d07b471586", null ], + [ "getVelocity", "classpathplanner_1_1GoalEndState.html#a3f201f1b301f46ae3359e0e4ed305839", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig-members.html b/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig-members.html new file mode 100644 index 00000000..13b0b99e --- /dev/null +++ b/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig-members.html @@ -0,0 +1,116 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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+ + + + + + + + + +
driveBaseRadius (defined in pathplanner::HolonomicPathFollowerConfig)pathplanner::HolonomicPathFollowerConfig
HolonomicPathFollowerConfig(const PIDConstants translationConstants, const PIDConstants rotationConstants, const units::meters_per_second_t maxModuleSpeed, const units::meter_t driveBaseRadius, const ReplanningConfig replanningConfig, const units::second_t period=0.02_s)pathplanner::HolonomicPathFollowerConfiginline
HolonomicPathFollowerConfig(const units::meters_per_second_t maxModuleSpeed, const units::meter_t driveBaseRadius, const ReplanningConfig replanningConfig, const units::second_t period=0.02_s)pathplanner::HolonomicPathFollowerConfiginline
maxModuleSpeed (defined in pathplanner::HolonomicPathFollowerConfig)pathplanner::HolonomicPathFollowerConfig
period (defined in pathplanner::HolonomicPathFollowerConfig)pathplanner::HolonomicPathFollowerConfig
replanningConfig (defined in pathplanner::HolonomicPathFollowerConfig)pathplanner::HolonomicPathFollowerConfig
rotationConstants (defined in pathplanner::HolonomicPathFollowerConfig)pathplanner::HolonomicPathFollowerConfig
translationConstants (defined in pathplanner::HolonomicPathFollowerConfig)pathplanner::HolonomicPathFollowerConfig
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig.html b/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig.html new file mode 100644 index 00000000..af68bccf --- /dev/null +++ b/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig.html @@ -0,0 +1,273 @@ + + + + + + + +PathPlannerLib: pathplanner::HolonomicPathFollowerConfig Class Reference + + + + + + + + + + + + + + +
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pathplanner::HolonomicPathFollowerConfig Class Reference
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+Public Member Functions

constexpr HolonomicPathFollowerConfig (const PIDConstants translationConstants, const PIDConstants rotationConstants, const units::meters_per_second_t maxModuleSpeed, const units::meter_t driveBaseRadius, const ReplanningConfig replanningConfig, const units::second_t period=0.02_s)
 
constexpr HolonomicPathFollowerConfig (const units::meters_per_second_t maxModuleSpeed, const units::meter_t driveBaseRadius, const ReplanningConfig replanningConfig, const units::second_t period=0.02_s)
 
+ + + + + + + + + + + + + +

+Public Attributes

+const PIDConstants translationConstants
 
+const PIDConstants rotationConstants
 
+const units::meters_per_second_t maxModuleSpeed
 
+const units::meter_t driveBaseRadius
 
+const ReplanningConfig replanningConfig
 
+const units::second_t period
 
+

Constructor & Destructor Documentation

+ +

◆ HolonomicPathFollowerConfig() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
constexpr pathplanner::HolonomicPathFollowerConfig::HolonomicPathFollowerConfig (const PIDConstants translationConstants,
const PIDConstants rotationConstants,
const units::meters_per_second_t maxModuleSpeed,
const units::meter_t driveBaseRadius,
const ReplanningConfig replanningConfig,
const units::second_t period = 0.02_s 
)
+ 		+inlineconstexpr
+
+

Create a new holonomic path follower config

+
Parameters
+ + + + + + + +
translationConstantscom.pathplanner.lib.util.PIDConstants used for creating the translation PID controllers
rotationConstantscom.pathplanner.lib.util.PIDConstants used for creating the rotation PID controller
maxModuleSpeedMax speed of an individual drive module in meters/sec
driveBaseRadiusThe radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2
replanningConfigPath replanning configuration
periodControl loop period in seconds (Default = 0.02)
+
+
+ +
+
+ +

◆ HolonomicPathFollowerConfig() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
constexpr pathplanner::HolonomicPathFollowerConfig::HolonomicPathFollowerConfig (const units::meters_per_second_t maxModuleSpeed,
const units::meter_t driveBaseRadius,
const ReplanningConfig replanningConfig,
const units::second_t period = 0.02_s 
)
+ 		+inlineconstexpr
+
+

Create a new holonomic path follower config

+
Parameters
+ + + + + +
maxModuleSpeedMax speed of an individual drive module in meters/sec
driveBaseRadiusThe radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2
replanningConfigPath replanning configuration
periodControl loop period in seconds (Default = 0.02)
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig.js b/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig.js new file mode 100644 index 00000000..89af244f --- /dev/null +++ b/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig.js @@ -0,0 +1,5 @@ +var classpathplanner_1_1HolonomicPathFollowerConfig = +[ + [ "HolonomicPathFollowerConfig", "classpathplanner_1_1HolonomicPathFollowerConfig.html#aedf6d65cc87f908ae0b87a1b55b03dd4", null ], + [ "HolonomicPathFollowerConfig", "classpathplanner_1_1HolonomicPathFollowerConfig.html#a7c8e885bacedff2a21f95399b7c7f37f", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1NamedCommands-members.html b/docs/cpp/classpathplanner_1_1NamedCommands-members.html new file mode 100644 index 00000000..618eec93 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1NamedCommands-members.html @@ -0,0 +1,112 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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getCommand(std::string name)pathplanner::NamedCommandsstatic
hasCommand(std::string name)pathplanner::NamedCommandsinlinestatic
registerCommand(std::string name, std::shared_ptr< frc2::Command > command)pathplanner::NamedCommandsinlinestatic
registerCommand(std::string name, frc2::CommandPtr &&command) (defined in pathplanner::NamedCommands)pathplanner::NamedCommandsinlinestatic
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1NamedCommands.html b/docs/cpp/classpathplanner_1_1NamedCommands.html new file mode 100644 index 00000000..14fb4935 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1NamedCommands.html @@ -0,0 +1,239 @@ + + + + + + + +PathPlannerLib: pathplanner::NamedCommands Class Reference + + + + + + + + + + + + + + +
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+Static Public Member Functions

static void registerCommand (std::string name, std::shared_ptr< frc2::Command > command)
 
+static void registerCommand (std::string name, frc2::CommandPtr &&command)
 
static bool hasCommand (std::string name)
 
static frc2::CommandPtr getCommand (std::string name)
 
+

Member Function Documentation

+ +

◆ getCommand()

+ +
+
+ + + + + +
+ + + + + + + + +
frc2::CommandPtr NamedCommands::getCommand (std::string name)
+ 		+static
+
+

Returns the command with the given name.

+
Parameters
+ + +
namethe name of the command to get
+
+
+
Returns
the command with the given name, wrapped in a functional command, or a none command if it has not been registered
+ +
+
+ +

◆ hasCommand()

+ +
+
+ + + + + +
+ + + + + + + + +
static bool pathplanner::NamedCommands::hasCommand (std::string name)
+ 		+inlinestatic
+
+

Returns whether a command with the given name has been registered.

+
Parameters
+ + +
namethe name of the command to check
+
+
+
Returns
true if a command with the given name has been registered, false otherwise
+ +
+
+ +

◆ registerCommand()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
static void pathplanner::NamedCommands::registerCommand (std::string name,
std::shared_ptr< frc2::Command > command 
)
+ 		+inlinestatic
+
+

Registers a command with the given name.

+
Parameters
+ + + +
namethe name of the command
commandshared pointer to the command to register
+
+
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PIDConstants-members.html b/docs/cpp/classpathplanner_1_1PIDConstants-members.html new file mode 100644 index 00000000..f7e705bf --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PIDConstants-members.html @@ -0,0 +1,115 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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iZone (defined in pathplanner::PIDConstants)pathplanner::PIDConstants
kD (defined in pathplanner::PIDConstants)pathplanner::PIDConstants
kI (defined in pathplanner::PIDConstants)pathplanner::PIDConstants
kP (defined in pathplanner::PIDConstants)pathplanner::PIDConstants
PIDConstants(const double kP, const double kI, const double kD, const double iZone=1.0)pathplanner::PIDConstantsinline
PIDConstants(const double kP, const double kD)pathplanner::PIDConstantsinline
PIDConstants(const double kP)pathplanner::PIDConstantsinline
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PIDConstants.html b/docs/cpp/classpathplanner_1_1PIDConstants.html new file mode 100644 index 00000000..6a1c43f6 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PIDConstants.html @@ -0,0 +1,274 @@ + + + + + + + +PathPlannerLib: pathplanner::PIDConstants Class Reference + + + + + + + + + + + + + + +
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pathplanner::PIDConstants Class Reference
+
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+ + + + + + + + +

+Public Member Functions

constexpr PIDConstants (const double kP, const double kI, const double kD, const double iZone=1.0)
 
constexpr PIDConstants (const double kP, const double kD)
 
constexpr PIDConstants (const double kP)
 
+ + + + + + + + + +

+Public Attributes

+const double kP
 
+const double kI
 
+const double kD
 
+const double iZone
 
+

Constructor & Destructor Documentation

+ +

◆ PIDConstants() [1/3]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
constexpr pathplanner::PIDConstants::PIDConstants (const double kP,
const double kI,
const double kD,
const double iZone = 1.0 
)
+ 		+inlineconstexpr
+
+

Create a new PIDConstants object

+
Parameters
+ + + + + +
kPP
kII
kDD
iZoneIntegral range
+
+
+ +
+
+ +

◆ PIDConstants() [2/3]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
constexpr pathplanner::PIDConstants::PIDConstants (const double kP,
const double kD 
)
+ 		+inlineconstexpr
+
+

Create a new PIDConstants object

+
Parameters
+ + + +
kPP
kDD
+
+
+ +
+
+ +

◆ PIDConstants() [3/3]

+ +
+
+ + + + + +
+ + + + + + + + +
constexpr pathplanner::PIDConstants::PIDConstants (const double kP)
+ 		+inlineconstexpr
+
+

Create a new PIDConstants object

+
Parameters
+ + +
kPP
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PIDConstants.js b/docs/cpp/classpathplanner_1_1PIDConstants.js new file mode 100644 index 00000000..3444b948 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PIDConstants.js @@ -0,0 +1,6 @@ +var classpathplanner_1_1PIDConstants = +[ + [ "PIDConstants", "classpathplanner_1_1PIDConstants.html#a69565033153bfeeefa60d89be3301bfc", null ], + [ "PIDConstants", "classpathplanner_1_1PIDConstants.html#abbcfd68aace480e7c89996ad9579fcbe", null ], + [ "PIDConstants", "classpathplanner_1_1PIDConstants.html#aac976a1eba85cc9017c663812c9ebe38", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PPHolonomicDriveController-members.html b/docs/cpp/classpathplanner_1_1PPHolonomicDriveController-members.html new file mode 100644 index 00000000..c2b41bac --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PPHolonomicDriveController-members.html @@ -0,0 +1,115 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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This is the complete list of members for pathplanner::PPHolonomicDriveController, including all inherited members.

+ + + + + + + + +
calculateRobotRelativeSpeeds(const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &referenceState) overridepathplanner::PPHolonomicDriveControllervirtual
getPositionalError() overridepathplanner::PPHolonomicDriveControllerinlinevirtual
isHolonomic() overridepathplanner::PPHolonomicDriveControllerinlinevirtual
PPHolonomicDriveController(PIDConstants translationConstants, PIDConstants rotationConstants, units::meters_per_second_t maxModuleSpeed, units::meter_t driveBaseRadius, units::second_t period=0.02_s)pathplanner::PPHolonomicDriveController
reset(const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds) overridepathplanner::PPHolonomicDriveControllerinlinevirtual
setEnabled(bool enabled)pathplanner::PPHolonomicDriveControllerinline
~PathFollowingController() (defined in pathplanner::PathFollowingController)pathplanner::PathFollowingControllerinlinevirtual
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PPHolonomicDriveController.html b/docs/cpp/classpathplanner_1_1PPHolonomicDriveController.html new file mode 100644 index 00000000..678d22e3 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PPHolonomicDriveController.html @@ -0,0 +1,389 @@ + + + + + + + +PathPlannerLib: pathplanner::PPHolonomicDriveController Class Reference + + + + + + + + + + + + + + +
+
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pathplanner::PPHolonomicDriveController Class Reference
+
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+Inheritance diagram for pathplanner::PPHolonomicDriveController:
+
+
+ + +pathplanner::PathFollowingController + +
+ + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 PPHolonomicDriveController (PIDConstants translationConstants, PIDConstants rotationConstants, units::meters_per_second_t maxModuleSpeed, units::meter_t driveBaseRadius, units::second_t period=0.02_s)
 
constexpr void setEnabled (bool enabled)
 
void reset (const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds) override
 
units::meter_t getPositionalError () override
 
frc::ChassisSpeeds calculateRobotRelativeSpeeds (const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &referenceState) override
 
bool isHolonomic () override
 
virtual frc::ChassisSpeeds calculateRobotRelativeSpeeds (const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &targetState)=0
 
virtual void reset (const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds)=0
 
virtual units::meter_t getPositionalError ()=0
 
virtual bool isHolonomic ()=0
 
+

Constructor & Destructor Documentation

+ +

◆ PPHolonomicDriveController()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
PPHolonomicDriveController::PPHolonomicDriveController (PIDConstants translationConstants,
PIDConstants rotationConstants,
units::meters_per_second_t maxModuleSpeed,
units::meter_t driveBaseRadius,
units::second_t period = 0.02_s 
)
+
+

Constructs a PPHolonomicDriveController

+
Parameters
+ + + + + + +
translationConstantsPID constants for the translation PID controllers
rotationConstantsPID constants for the rotation controller
maxModuleSpeedThe max speed of a drive module in meters/sec
driveBaseRadiusThe radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2
periodPeriod of the control loop in seconds
+
+
+ +
+
+

Member Function Documentation

+ +

◆ calculateRobotRelativeSpeeds()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
frc::ChassisSpeeds PPHolonomicDriveController::calculateRobotRelativeSpeeds (const frc::Pose2d & currentPose,
const PathPlannerTrajectory::State & referenceState 
)
+ 		+overridevirtual
+
+

Calculates the next output of the holonomic drive controller

+
Parameters
+ + + +
currentPoseThe current pose
referenceStateThe desired trajectory state
+
+
+
Returns
The next output of the holonomic drive controller (robot relative)
+ +

Implements pathplanner::PathFollowingController.

+ +
+
+ +

◆ getPositionalError()

+ +
+
+ + + + + +
+ + + + + + + +
units::meter_t pathplanner::PPHolonomicDriveController::getPositionalError ()
+ 		+inlineoverridevirtual
+
+

Get the last positional error of the controller

+
Returns
Positional error, in meters
+ +

Implements pathplanner::PathFollowingController.

+ +
+
+ +

◆ isHolonomic()

+ +
+
+ + + + + +
+ + + + + + + +
bool pathplanner::PPHolonomicDriveController::isHolonomic ()
+ 		+inlineoverridevirtual
+
+

Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.

+
Returns
True if this controller is for a holonomic drive train
+ +

Implements pathplanner::PathFollowingController.

+ +
+
+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void pathplanner::PPHolonomicDriveController::reset (const frc::Pose2d & currentPose,
const frc::ChassisSpeeds & currentSpeeds 
)
+ 		+inlineoverridevirtual
+
+

Resets the controller based on the current state of the robot

+
Parameters
+ + + +
currentPoseCurrent robot pose
currentSpeedsCurrent robot relative chassis speeds
+
+
+ +

Implements pathplanner::PathFollowingController.

+ +
+
+ +

◆ setEnabled()

+ +
+
+ + + + + +
+ + + + + + + + +
constexpr void pathplanner::PPHolonomicDriveController::setEnabled (bool enabled)
+ 		+inlineconstexpr
+
+

Enables and disables the controller for troubleshooting. When calculate() is called on a disabled controller, only feedforward values are returned.

+
Parameters
+ + +
enabledIf the controller is enabled or not
+
+
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PPHolonomicDriveController.js b/docs/cpp/classpathplanner_1_1PPHolonomicDriveController.js new file mode 100644 index 00000000..7a513561 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PPHolonomicDriveController.js @@ -0,0 +1,9 @@ +var classpathplanner_1_1PPHolonomicDriveController = +[ + [ "PPHolonomicDriveController", "classpathplanner_1_1PPHolonomicDriveController.html#a337977d00fde477e8eb49208d4d441a7", null ], + [ "calculateRobotRelativeSpeeds", "classpathplanner_1_1PPHolonomicDriveController.html#af7ea70afb7857680b3656f9c106e43db", null ], + [ "getPositionalError", "classpathplanner_1_1PPHolonomicDriveController.html#a664a6866463393f42cdbebff5c74154b", null ], + [ "isHolonomic", "classpathplanner_1_1PPHolonomicDriveController.html#ab4e50cbe9e11bedfb7c9837bf1093e4d", null ], + [ "reset", "classpathplanner_1_1PPHolonomicDriveController.html#a0b9ad901c14364666b7d9aff7f1db6fa", null ], + [ "setEnabled", "classpathplanner_1_1PPHolonomicDriveController.html#ae3da3b9e5ef33855f01d8653ccc11ef7", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PPHolonomicDriveController.png b/docs/cpp/classpathplanner_1_1PPHolonomicDriveController.png new file mode 100644 index 00000000..a27f44c9 Binary files /dev/null and b/docs/cpp/classpathplanner_1_1PPHolonomicDriveController.png differ diff --git a/docs/cpp/classpathplanner_1_1PPLTVController-members.html b/docs/cpp/classpathplanner_1_1PPLTVController-members.html new file mode 100644 index 00000000..5648df7f --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PPLTVController-members.html @@ -0,0 +1,115 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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+
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+ +

This is the complete list of members for pathplanner::PPLTVController, including all inherited members.

+ + + + + + + + +
calculateRobotRelativeSpeeds(const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &targetState) overridepathplanner::PPLTVControllerinlinevirtual
getPositionalError() overridepathplanner::PPLTVControllerinlinevirtual
isHolonomic() overridepathplanner::PPLTVControllerinlinevirtual
PPLTVController(units::second_t dt, units::velocity::meters_per_second_t maxVelocity=9_mps)pathplanner::PPLTVControllerinline
PPLTVController(const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, units::meters_per_second_t maxVelocity=9_mps)pathplanner::PPLTVControllerinline
reset(const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds) overridepathplanner::PPLTVControllerinlinevirtual
~PathFollowingController() (defined in pathplanner::PathFollowingController)pathplanner::PathFollowingControllerinlinevirtual
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PPLTVController.html b/docs/cpp/classpathplanner_1_1PPLTVController.html new file mode 100644 index 00000000..13026dc1 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PPLTVController.html @@ -0,0 +1,407 @@ + + + + + + + +PathPlannerLib: pathplanner::PPLTVController Class Reference + + + + + + + + + + + + + + +
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pathplanner::PPLTVController Class Reference
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+Inheritance diagram for pathplanner::PPLTVController:
+
+
+ + +pathplanner::PathFollowingController + +
+ + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 PPLTVController (units::second_t dt, units::velocity::meters_per_second_t maxVelocity=9_mps)
 
 PPLTVController (const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, units::meters_per_second_t maxVelocity=9_mps)
 
frc::ChassisSpeeds calculateRobotRelativeSpeeds (const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &targetState) override
 
void reset (const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds) override
 
units::meter_t getPositionalError () override
 
bool isHolonomic () override
 
virtual frc::ChassisSpeeds calculateRobotRelativeSpeeds (const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &targetState)=0
 
virtual void reset (const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds)=0
 
virtual units::meter_t getPositionalError ()=0
 
virtual bool isHolonomic ()=0
 
+

Constructor & Destructor Documentation

+ +

◆ PPLTVController() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
pathplanner::PPLTVController::PPLTVController (units::second_t dt,
units::velocity::meters_per_second_t maxVelocity = 9_mps 
)
+ 		+inline
+
+

Constructs a linear time-varying unicycle controller with default maximum desired error tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s, 2 rad/s).

+
Parameters
+ + + +
dtDiscretization timestep in seconds.
maxVelocityThe maximum velocity in meters per second for the controller gain lookup table. The default is 9 m/s.
+
+
+ +
+
+ +

◆ PPLTVController() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PPLTVController::PPLTVController (const wpi::array< double, 3 > & Qelems,
const wpi::array< double, 2 > & Relems,
units::second_t dt,
units::meters_per_second_t maxVelocity = 9_mps 
)
+ 		+inline
+
+

Constructs a linear time-varying unicycle controller.

+

See https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning for how to select the tolerances.

+
Parameters
+ + + + + +
QelemsThe maximum desired error tolerance for each state.
RelemsThe maximum desired control effort for each input.
dtDiscretization timestep in seconds.
maxVelocityThe maximum velocity in meters per second for the controller gain lookup table. The default is 9 m/s.
+
+
+
Exceptions
+ + +
IllegalArgumentExceptionif maxVelocity <= 0 m/s or >= 15 m/s.
+
+
+ +
+
+

Member Function Documentation

+ +

◆ calculateRobotRelativeSpeeds()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
frc::ChassisSpeeds pathplanner::PPLTVController::calculateRobotRelativeSpeeds (const frc::Pose2d & currentPose,
const PathPlannerTrajectory::State & targetState 
)
+ 		+inlineoverridevirtual
+
+

Calculates the next output of the path following controller

+
Parameters
+ + + +
currentPoseThe current robot pose
targetStateThe desired trajectory state
+
+
+
Returns
The next robot relative output of the path following controller
+ +

Implements pathplanner::PathFollowingController.

+ +
+
+ +

◆ getPositionalError()

+ +
+
+ + + + + +
+ + + + + + + +
units::meter_t pathplanner::PPLTVController::getPositionalError ()
+ 		+inlineoverridevirtual
+
+

Get the current positional error between the robot's actual and target positions

+
Returns
Positional error, in meters
+ +

Implements pathplanner::PathFollowingController.

+ +
+
+ +

◆ isHolonomic()

+ +
+
+ + + + + +
+ + + + + + + +
bool pathplanner::PPLTVController::isHolonomic ()
+ 		+inlineoverridevirtual
+
+

Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.

+
Returns
True if this controller is for a holonomic drive train
+ +

Implements pathplanner::PathFollowingController.

+ +
+
+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void pathplanner::PPLTVController::reset (const frc::Pose2d & currentPose,
const frc::ChassisSpeeds & currentSpeeds 
)
+ 		+inlineoverridevirtual
+
+

Resets the controller based on the current state of the robot

+
Parameters
+ + + +
currentPoseCurrent robot pose
currentSpeedsCurrent robot relative chassis speeds
+
+
+ +

Implements pathplanner::PathFollowingController.

+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PPLTVController.js b/docs/cpp/classpathplanner_1_1PPLTVController.js new file mode 100644 index 00000000..1e9b0b8b --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PPLTVController.js @@ -0,0 +1,9 @@ +var classpathplanner_1_1PPLTVController = +[ + [ "PPLTVController", "classpathplanner_1_1PPLTVController.html#a4929bd9baa23f1b7b089a8add0609ab4", null ], + [ "PPLTVController", "classpathplanner_1_1PPLTVController.html#a971f88ddcccba7653b5be2b02dff79bf", null ], + [ "calculateRobotRelativeSpeeds", "classpathplanner_1_1PPLTVController.html#aa935fe0ee3c2e1e2c795c983cae7c931", null ], + [ "getPositionalError", "classpathplanner_1_1PPLTVController.html#a79a37bf3eb7539baedee3cfd9698f20a", null ], + [ "isHolonomic", "classpathplanner_1_1PPLTVController.html#a7df93fcd85a218b11afc26403f86905a", null ], + [ "reset", "classpathplanner_1_1PPLTVController.html#aa821f72877dde70bb8cd167378ad411e", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PPLTVController.png b/docs/cpp/classpathplanner_1_1PPLTVController.png new file mode 100644 index 00000000..1d1af597 Binary files /dev/null and b/docs/cpp/classpathplanner_1_1PPLTVController.png differ diff --git a/docs/cpp/classpathplanner_1_1PPLibTelemetry-members.html b/docs/cpp/classpathplanner_1_1PPLibTelemetry-members.html new file mode 100644 index 00000000..e64f7d0f --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PPLibTelemetry-members.html @@ -0,0 +1,115 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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enableCompetitionMode() (defined in pathplanner::PPLibTelemetry)pathplanner::PPLibTelemetryinlinestatic
registerHotReloadPath(std::string pathName, std::shared_ptr< PathPlannerPath > path) (defined in pathplanner::PPLibTelemetry)pathplanner::PPLibTelemetrystatic
setCurrentPath(std::shared_ptr< PathPlannerPath > path) (defined in pathplanner::PPLibTelemetry)pathplanner::PPLibTelemetrystatic
setCurrentPose(frc::Pose2d pose) (defined in pathplanner::PPLibTelemetry)pathplanner::PPLibTelemetryinlinestatic
setPathInaccuracy(units::meter_t inaccuracy) (defined in pathplanner::PPLibTelemetry)pathplanner::PPLibTelemetryinlinestatic
setTargetPose(frc::Pose2d targetPose) (defined in pathplanner::PPLibTelemetry)pathplanner::PPLibTelemetryinlinestatic
setVelocities(units::meters_per_second_t actualVel, units::meters_per_second_t commandedVel, units::degrees_per_second_t actualAngVel, units::degrees_per_second_t commandedAngVel) (defined in pathplanner::PPLibTelemetry)pathplanner::PPLibTelemetryinlinestatic
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PPLibTelemetry.html b/docs/cpp/classpathplanner_1_1PPLibTelemetry.html new file mode 100644 index 00000000..81bbed23 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PPLibTelemetry.html @@ -0,0 +1,138 @@ + + + + + + + +PathPlannerLib: pathplanner::PPLibTelemetry Class Reference + + + + + + + + + + + + + + +
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+Static Public Member Functions

+static void enableCompetitionMode ()
 
+static void setVelocities (units::meters_per_second_t actualVel, units::meters_per_second_t commandedVel, units::degrees_per_second_t actualAngVel, units::degrees_per_second_t commandedAngVel)
 
+static void setPathInaccuracy (units::meter_t inaccuracy)
 
+static void setCurrentPose (frc::Pose2d pose)
 
+static void setCurrentPath (std::shared_ptr< PathPlannerPath > path)
 
+static void setTargetPose (frc::Pose2d targetPose)
 
+static void registerHotReloadPath (std::string pathName, std::shared_ptr< PathPlannerPath > path)
 
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PPRamseteController-members.html b/docs/cpp/classpathplanner_1_1PPRamseteController-members.html new file mode 100644 index 00000000..2e35acfe --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PPRamseteController-members.html @@ -0,0 +1,115 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::PPRamseteController Member List
+
+
+ +

This is the complete list of members for pathplanner::PPRamseteController, including all inherited members.

+ + + + + + + + +
calculateRobotRelativeSpeeds(const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &targetState) overridepathplanner::PPRamseteControllerinlinevirtual
getPositionalError() overridepathplanner::PPRamseteControllerinlinevirtual
isHolonomic() overridepathplanner::PPRamseteControllerinlinevirtual
PPRamseteController(units::unit_t< b_unit > b, units::unit_t< zeta_unit > zeta)pathplanner::PPRamseteControllerinline
PPRamseteController()pathplanner::PPRamseteControllerinline
reset(const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds) overridepathplanner::PPRamseteControllerinlinevirtual
~PathFollowingController() (defined in pathplanner::PathFollowingController)pathplanner::PathFollowingControllerinlinevirtual
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PPRamseteController.html b/docs/cpp/classpathplanner_1_1PPRamseteController.html new file mode 100644 index 00000000..532ff8de --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PPRamseteController.html @@ -0,0 +1,368 @@ + + + + + + + +PathPlannerLib: pathplanner::PPRamseteController Class Reference + + + + + + + + + + + + + + +
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+Inheritance diagram for pathplanner::PPRamseteController:
+
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+ + +pathplanner::PathFollowingController + +
+ + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 PPRamseteController (units::unit_t< b_unit > b, units::unit_t< zeta_unit > zeta)
 
 PPRamseteController ()
 
frc::ChassisSpeeds calculateRobotRelativeSpeeds (const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &targetState) override
 
void reset (const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds) override
 
units::meter_t getPositionalError () override
 
bool isHolonomic () override
 
virtual frc::ChassisSpeeds calculateRobotRelativeSpeeds (const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &targetState)=0
 
virtual void reset (const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds)=0
 
virtual units::meter_t getPositionalError ()=0
 
virtual bool isHolonomic ()=0
 
+

Constructor & Destructor Documentation

+ +

◆ PPRamseteController() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
pathplanner::PPRamseteController::PPRamseteController (units::unit_t< b_unit > b,
units::unit_t< zeta_unit > zeta 
)
+ 		+inline
+
+

Construct a Ramsete unicycle controller.

+
Parameters
+ + + +
bTuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term.
zetaTuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide more damping in response.
+
+
+ +
+
+ +

◆ PPRamseteController() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
pathplanner::PPRamseteController::PPRamseteController ()
+ 		+inline
+
+

Construct a Ramsete unicycle controller. The default arguments for b and zeta of 2.0 rad^2/m^2 and 0.7 rad^-1 have been well-tested to produce desirable results.

+ +
+
+

Member Function Documentation

+ +

◆ calculateRobotRelativeSpeeds()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
frc::ChassisSpeeds pathplanner::PPRamseteController::calculateRobotRelativeSpeeds (const frc::Pose2d & currentPose,
const PathPlannerTrajectory::State & targetState 
)
+ 		+inlineoverridevirtual
+
+

Calculates the next output of the path following controller

+
Parameters
+ + + +
currentPoseThe current robot pose
targetStateThe desired trajectory state
+
+
+
Returns
The next robot relative output of the path following controller
+ +

Implements pathplanner::PathFollowingController.

+ +
+
+ +

◆ getPositionalError()

+ +
+
+ + + + + +
+ + + + + + + +
units::meter_t pathplanner::PPRamseteController::getPositionalError ()
+ 		+inlineoverridevirtual
+
+

Get the current positional error between the robot's actual and target positions

+
Returns
Positional error, in meters
+ +

Implements pathplanner::PathFollowingController.

+ +
+
+ +

◆ isHolonomic()

+ +
+
+ + + + + +
+ + + + + + + +
bool pathplanner::PPRamseteController::isHolonomic ()
+ 		+inlineoverridevirtual
+
+

Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.

+
Returns
True if this controller is for a holonomic drive train
+ +

Implements pathplanner::PathFollowingController.

+ +
+
+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void pathplanner::PPRamseteController::reset (const frc::Pose2d & currentPose,
const frc::ChassisSpeeds & currentSpeeds 
)
+ 		+inlineoverridevirtual
+
+

Resets the controller based on the current state of the robot

+
Parameters
+ + + +
currentPoseCurrent robot pose
currentSpeedsCurrent robot relative chassis speeds
+
+
+ +

Implements pathplanner::PathFollowingController.

+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PPRamseteController.js b/docs/cpp/classpathplanner_1_1PPRamseteController.js new file mode 100644 index 00000000..98b25e47 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PPRamseteController.js @@ -0,0 +1,9 @@ +var classpathplanner_1_1PPRamseteController = +[ + [ "PPRamseteController", "classpathplanner_1_1PPRamseteController.html#ae5772a7c13a3ec8f527085ba0367b188", null ], + [ "PPRamseteController", "classpathplanner_1_1PPRamseteController.html#a610fd96e6e5fa74d3a8e3a8f17b8eb0c", null ], + [ "calculateRobotRelativeSpeeds", "classpathplanner_1_1PPRamseteController.html#a8d14ffb80c95770055f8ced1394d17d0", null ], + [ "getPositionalError", "classpathplanner_1_1PPRamseteController.html#aecf94d68ee9953199141042a2fadbcaf", null ], + [ "isHolonomic", "classpathplanner_1_1PPRamseteController.html#a05c5a148faaff8d5e93bdc3dce2a7a49", null ], + [ "reset", "classpathplanner_1_1PPRamseteController.html#ae4e0a1e37d71614a75576bb7ea8e4e50", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PPRamseteController.png b/docs/cpp/classpathplanner_1_1PPRamseteController.png new file mode 100644 index 00000000..e6a108bf Binary files /dev/null and b/docs/cpp/classpathplanner_1_1PPRamseteController.png differ diff --git a/docs/cpp/classpathplanner_1_1PathConstraints-members.html b/docs/cpp/classpathplanner_1_1PathConstraints-members.html new file mode 100644 index 00000000..ca64078c --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathConstraints-members.html @@ -0,0 +1,115 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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+ +

This is the complete list of members for pathplanner::PathConstraints, including all inherited members.

+ + + + + + + + +
fromJson(const wpi::json &json)pathplanner::PathConstraintsstatic
getMaxAcceleration() constpathplanner::PathConstraintsinline
getMaxAngularAcceleration() constpathplanner::PathConstraintsinline
getMaxAngularVelocity() constpathplanner::PathConstraintsinline
getMaxVelocity() constpathplanner::PathConstraintsinline
operator==(const PathConstraints &other) const (defined in pathplanner::PathConstraints)pathplanner::PathConstraintsinline
PathConstraints(units::meters_per_second_t maxVel, units::meters_per_second_squared_t maxAccel, units::radians_per_second_t maxAngularVel, units::radians_per_second_squared_t maxAngularAccel)pathplanner::PathConstraintsinline
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathConstraints.html b/docs/cpp/classpathplanner_1_1PathConstraints.html new file mode 100644 index 00000000..d7a8462f --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathConstraints.html @@ -0,0 +1,338 @@ + + + + + + + +PathPlannerLib: pathplanner::PathConstraints Class Reference + + + + + + + + + + + + + + +
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+Public Member Functions

constexpr PathConstraints (units::meters_per_second_t maxVel, units::meters_per_second_squared_t maxAccel, units::radians_per_second_t maxAngularVel, units::radians_per_second_squared_t maxAngularAccel)
 
constexpr units::meters_per_second_t getMaxVelocity () const
 
constexpr units::meters_per_second_squared_t getMaxAcceleration () const
 
constexpr units::radians_per_second_t getMaxAngularVelocity () const
 
constexpr units::radians_per_second_squared_t getMaxAngularAcceleration () const
 
+bool operator== (const PathConstraints &other) const
 
+ + + +

+Static Public Member Functions

static PathConstraints fromJson (const wpi::json &json)
 
+

Constructor & Destructor Documentation

+ +

◆ PathConstraints()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
constexpr pathplanner::PathConstraints::PathConstraints (units::meters_per_second_t maxVel,
units::meters_per_second_squared_t maxAccel,
units::radians_per_second_t maxAngularVel,
units::radians_per_second_squared_t maxAngularAccel 
)
+ 		+inlineconstexpr
+
+

Create a new path constraints object

+
Parameters
+ + + + + +
maxVelMax linear velocity (M/S)
maxAccelMax linear acceleration (M/S^2)
maxAngularVelMax angular velocity (Deg/S)
maxAngularAccelMax angular acceleration (Deg/S^2)
+
+
+ +
+
+

Member Function Documentation

+ +

◆ fromJson()

+ +
+
+ + + + + +
+ + + + + + + + +
PathConstraints PathConstraints::fromJson (const wpi::json & json)
+ 		+static
+
+

Create a path constraints object from json

+
Parameters
+ + +
jsonjson reference representing a path constraints object
+
+
+
Returns
The path constraints defined by the given json
+ +
+
+ +

◆ getMaxAcceleration()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr units::meters_per_second_squared_t pathplanner::PathConstraints::getMaxAcceleration () const
+ 		+inlineconstexpr
+
+

Get the max linear acceleration

+
Returns
Max linear acceleration (M/S^2)
+ +
+
+ +

◆ getMaxAngularAcceleration()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr units::radians_per_second_squared_t pathplanner::PathConstraints::getMaxAngularAcceleration () const
+ 		+inlineconstexpr
+
+

Get the max angular acceleration

+
Returns
Max angular acceleration (Rad/S^2)
+ +
+
+ +

◆ getMaxAngularVelocity()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr units::radians_per_second_t pathplanner::PathConstraints::getMaxAngularVelocity () const
+ 		+inlineconstexpr
+
+

Get the max angular velocity

+
Returns
Max angular velocity (Rad/S)
+ +
+
+ +

◆ getMaxVelocity()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr units::meters_per_second_t pathplanner::PathConstraints::getMaxVelocity () const
+ 		+inlineconstexpr
+
+

Get the max linear velocity

+
Returns
Max linear velocity (M/S)
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathConstraints.js b/docs/cpp/classpathplanner_1_1PathConstraints.js new file mode 100644 index 00000000..2d65e30e --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathConstraints.js @@ -0,0 +1,8 @@ +var classpathplanner_1_1PathConstraints = +[ + [ "PathConstraints", "classpathplanner_1_1PathConstraints.html#afd5ff7d50f81933f628b7e119123897c", null ], + [ "getMaxAcceleration", "classpathplanner_1_1PathConstraints.html#ad48ea4771018e336fc20d69bf32c468d", null ], + [ "getMaxAngularAcceleration", "classpathplanner_1_1PathConstraints.html#aae61e0f700e7e40b7841803cc0da85fd", null ], + [ "getMaxAngularVelocity", "classpathplanner_1_1PathConstraints.html#ac2f8dc7ece4f0e8652494bf14a4a6bab", null ], + [ "getMaxVelocity", "classpathplanner_1_1PathConstraints.html#a3e55a90b65cf31d313e9f5fd6e5d7988", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathFollowingController-members.html b/docs/cpp/classpathplanner_1_1PathFollowingController-members.html new file mode 100644 index 00000000..f1d4b3e3 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathFollowingController-members.html @@ -0,0 +1,113 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::PathFollowingController Member List
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This is the complete list of members for pathplanner::PathFollowingController, including all inherited members.

+ + + + + + +
calculateRobotRelativeSpeeds(const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &targetState)=0pathplanner::PathFollowingControllerpure virtual
getPositionalError()=0pathplanner::PathFollowingControllerpure virtual
isHolonomic()=0pathplanner::PathFollowingControllerpure virtual
reset(const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds)=0pathplanner::PathFollowingControllerpure virtual
~PathFollowingController() (defined in pathplanner::PathFollowingController)pathplanner::PathFollowingControllerinlinevirtual
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathFollowingController.html b/docs/cpp/classpathplanner_1_1PathFollowingController.html new file mode 100644 index 00000000..97c6197b --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathFollowingController.html @@ -0,0 +1,287 @@ + + + + + + + +PathPlannerLib: pathplanner::PathFollowingController Class Reference + + + + + + + + + + + + + + +
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pathplanner::PathFollowingController Class Referenceabstract
+
+
+
+Inheritance diagram for pathplanner::PathFollowingController:
+
+
+ + +pathplanner::PPHolonomicDriveController +pathplanner::PPLTVController +pathplanner::PPRamseteController + +
+ + + + + + + + + + +

+Public Member Functions

virtual frc::ChassisSpeeds calculateRobotRelativeSpeeds (const frc::Pose2d &currentPose, const PathPlannerTrajectory::State &targetState)=0
 
virtual void reset (const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds)=0
 
virtual units::meter_t getPositionalError ()=0
 
virtual bool isHolonomic ()=0
 
+

Member Function Documentation

+ +

◆ calculateRobotRelativeSpeeds()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual frc::ChassisSpeeds pathplanner::PathFollowingController::calculateRobotRelativeSpeeds (const frc::Pose2d & currentPose,
const PathPlannerTrajectory::State & targetState 
)
+ 		+pure virtual
+
+

Calculates the next output of the path following controller

+
Parameters
+ + + +
currentPoseThe current robot pose
targetStateThe desired trajectory state
+
+
+
Returns
The next robot relative output of the path following controller
+ +

Implemented in pathplanner::PPHolonomicDriveController, pathplanner::PPLTVController, and pathplanner::PPRamseteController.

+ +
+
+ +

◆ getPositionalError()

+ +
+
+ + + + + +
+ + + + + + + +
virtual units::meter_t pathplanner::PathFollowingController::getPositionalError ()
+ 		+pure virtual
+
+

Get the current positional error between the robot's actual and target positions

+
Returns
Positional error, in meters
+ +

Implemented in pathplanner::PPHolonomicDriveController, pathplanner::PPLTVController, and pathplanner::PPRamseteController.

+ +
+
+ +

◆ isHolonomic()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool pathplanner::PathFollowingController::isHolonomic ()
+ 		+pure virtual
+
+

Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.

+
Returns
True if this controller is for a holonomic drive train
+ +

Implemented in pathplanner::PPHolonomicDriveController, pathplanner::PPLTVController, and pathplanner::PPRamseteController.

+ +
+
+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void pathplanner::PathFollowingController::reset (const frc::Pose2d & currentPose,
const frc::ChassisSpeeds & currentSpeeds 
)
+ 		+pure virtual
+
+

Resets the controller based on the current state of the robot

+
Parameters
+ + + +
currentPoseCurrent robot pose
currentSpeedsCurrent robot relative chassis speeds
+
+
+ +

Implemented in pathplanner::PPHolonomicDriveController, pathplanner::PPLTVController, and pathplanner::PPRamseteController.

+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathFollowingController.js b/docs/cpp/classpathplanner_1_1PathFollowingController.js new file mode 100644 index 00000000..24bbc9d8 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathFollowingController.js @@ -0,0 +1,7 @@ +var classpathplanner_1_1PathFollowingController = +[ + [ "calculateRobotRelativeSpeeds", "classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459", null ], + [ "getPositionalError", "classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f", null ], + [ "isHolonomic", "classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352", null ], + [ "reset", "classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathFollowingController.png b/docs/cpp/classpathplanner_1_1PathFollowingController.png new file mode 100644 index 00000000..65d5f4dc Binary files /dev/null and b/docs/cpp/classpathplanner_1_1PathFollowingController.png differ diff --git a/docs/cpp/classpathplanner_1_1PathPlannerAuto-members.html b/docs/cpp/classpathplanner_1_1PathPlannerAuto-members.html new file mode 100644 index 00000000..2c33a1bb --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerAuto-members.html @@ -0,0 +1,115 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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+ +

This is the complete list of members for pathplanner::PathPlannerAuto, including all inherited members.

+ + + + + + + + +
End(bool interrupted) override (defined in pathplanner::PathPlannerAuto)pathplanner::PathPlannerAuto
Execute() override (defined in pathplanner::PathPlannerAuto)pathplanner::PathPlannerAuto
getPathGroupFromAutoFile(std::string autoName)pathplanner::PathPlannerAutostatic
getStartingPoseFromAutoFile(std::string autoName)pathplanner::PathPlannerAutostatic
Initialize() override (defined in pathplanner::PathPlannerAuto)pathplanner::PathPlannerAuto
IsFinished() override (defined in pathplanner::PathPlannerAuto)pathplanner::PathPlannerAuto
PathPlannerAuto(std::string autoName)pathplanner::PathPlannerAuto
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathPlannerAuto.html b/docs/cpp/classpathplanner_1_1PathPlannerAuto.html new file mode 100644 index 00000000..bd6cef5c --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerAuto.html @@ -0,0 +1,244 @@ + + + + + + + +PathPlannerLib: pathplanner::PathPlannerAuto Class Reference + + + + + + + + + + + + + + +
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pathplanner::PathPlannerAuto Class Reference
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#include <PathPlannerAuto.h>

+
+Inheritance diagram for pathplanner::PathPlannerAuto:
+
+
+ +
+ + + + + + + + + + + + +

+Public Member Functions

 PathPlannerAuto (std::string autoName)
 
+void Initialize () override
 
+void Execute () override
 
+bool IsFinished () override
 
+void End (bool interrupted) override
 
+ + + + + +

+Static Public Member Functions

static std::vector< std::shared_ptr< PathPlannerPath > > getPathGroupFromAutoFile (std::string autoName)
 
static frc::Pose2d getStartingPoseFromAutoFile (std::string autoName)
 
+

Detailed Description

+

A command that loads and runs an autonomous routine built using PathPlanner.

+

Constructor & Destructor Documentation

+ +

◆ PathPlannerAuto()

+ +
+
+ + + + + + + + +
PathPlannerAuto::PathPlannerAuto (std::string autoName)
+
+

Constructs a new PathPlannerAuto command.

+
Parameters
+ + +
autoNamethe name of the autonomous routine to load and run
+
+
+ +
+
+

Member Function Documentation

+ +

◆ getPathGroupFromAutoFile()

+ +
+
+ + + + + +
+ + + + + + + + +
std::vector< std::shared_ptr< PathPlannerPath > > PathPlannerAuto::getPathGroupFromAutoFile (std::string autoName)
+ 		+static
+
+

Get a vector of every path in the given auto (depth first)

+
Parameters
+ + +
autoNameName of the auto to get the path group from
+
+
+
Returns
Vector of paths in the auto
+ +
+
+ +

◆ getStartingPoseFromAutoFile()

+ +
+
+ + + + + +
+ + + + + + + + +
frc::Pose2d PathPlannerAuto::getStartingPoseFromAutoFile (std::string autoName)
+ 		+static
+
+

Get the starting pose from the given auto file

+
Parameters
+ + +
autoNameName of the auto to get the pose from
+
+
+
Returns
Starting pose from the given auto
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathPlannerAuto.js b/docs/cpp/classpathplanner_1_1PathPlannerAuto.js new file mode 100644 index 00000000..8d145592 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerAuto.js @@ -0,0 +1,4 @@ +var classpathplanner_1_1PathPlannerAuto = +[ + [ "PathPlannerAuto", "classpathplanner_1_1PathPlannerAuto.html#af9e38c4f29761113f5689d1b21da6c40", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathPlannerAuto.png b/docs/cpp/classpathplanner_1_1PathPlannerAuto.png new file mode 100644 index 00000000..9648b96d Binary files /dev/null and b/docs/cpp/classpathplanner_1_1PathPlannerAuto.png differ diff --git a/docs/cpp/classpathplanner_1_1PathPlannerLogging-members.html b/docs/cpp/classpathplanner_1_1PathPlannerLogging-members.html new file mode 100644 index 00000000..8b8e558e --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerLogging-members.html @@ -0,0 +1,114 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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+
+
+ +

This is the complete list of members for pathplanner::PathPlannerLogging, including all inherited members.

+ + + + + + + +
logActivePath(std::shared_ptr< PathPlannerPath > path) (defined in pathplanner::PathPlannerLogging)pathplanner::PathPlannerLogginginlinestatic
logCurrentPose(frc::Pose2d pose) (defined in pathplanner::PathPlannerLogging)pathplanner::PathPlannerLogginginlinestatic
logTargetPose(frc::Pose2d targetPose) (defined in pathplanner::PathPlannerLogging)pathplanner::PathPlannerLogginginlinestatic
setLogActivePathCallback(std::function< void(std::vector< frc::Pose2d >)> logActivePath) (defined in pathplanner::PathPlannerLogging)pathplanner::PathPlannerLogginginlinestatic
setLogCurrentPoseCallback(std::function< void(frc::Pose2d)> logCurrentPose) (defined in pathplanner::PathPlannerLogging)pathplanner::PathPlannerLogginginlinestatic
setLogTargetPoseCallback(std::function< void(frc::Pose2d)> logTargetPose) (defined in pathplanner::PathPlannerLogging)pathplanner::PathPlannerLogginginlinestatic
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathPlannerLogging.html b/docs/cpp/classpathplanner_1_1PathPlannerLogging.html new file mode 100644 index 00000000..14bbb2b2 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerLogging.html @@ -0,0 +1,135 @@ + + + + + + + +PathPlannerLib: pathplanner::PathPlannerLogging Class Reference + + + + + + + + + + + + + + +
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PathPlannerLib +
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pathplanner::PathPlannerLogging Class Reference
+
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+ + + + + + + + + + + + + + +

+Static Public Member Functions

+static void setLogCurrentPoseCallback (std::function< void(frc::Pose2d)> logCurrentPose)
 
+static void setLogTargetPoseCallback (std::function< void(frc::Pose2d)> logTargetPose)
 
+static void setLogActivePathCallback (std::function< void(std::vector< frc::Pose2d >)> logActivePath)
 
+static void logCurrentPose (frc::Pose2d pose)
 
+static void logTargetPose (frc::Pose2d targetPose)
 
+static void logActivePath (std::shared_ptr< PathPlannerPath > path)
 
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathPlannerPath-members.html b/docs/cpp/classpathplanner_1_1PathPlannerPath-members.html new file mode 100644 index 00000000..fffb9d21 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerPath-members.html @@ -0,0 +1,124 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::PathPlannerPath Member List
+
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+ +

This is the complete list of members for pathplanner::PathPlannerPath, including all inherited members.

+ + + + + + + + + + + + + + + + + +
bezierFromPoses(std::vector< frc::Pose2d > poses)pathplanner::PathPlannerPathstatic
createPath(std::vector< frc::Translation2d > bezierPoints, std::vector< RotationTarget > holonomicRotations, std::vector< ConstraintsZone > constraintZones)pathplanner::PathPlannerPathstatic
fromPathFile(std::string pathName)pathplanner::PathPlannerPathstatic
fromPathPoints(std::vector< PathPoint > pathPoints, PathConstraints globalConstraints, GoalEndState goalEndState)pathplanner::PathPlannerPathstatic
getAllPathPoints() constpathplanner::PathPlannerPathinline
getConstraintsForPoint(size_t idx)pathplanner::PathPlannerPathinline
getEventMarkers()pathplanner::PathPlannerPathinline
getGlobalConstraints() constpathplanner::PathPlannerPathinline
getGoalEndState() constpathplanner::PathPlannerPathinline
getPoint(size_t index) constpathplanner::PathPlannerPathinline
hotReload(const wpi::json &json) (defined in pathplanner::PathPlannerPath)pathplanner::PathPlannerPath
isReversed() constpathplanner::PathPlannerPathinline
numPoints() constpathplanner::PathPlannerPathinline
PathPlannerPath(std::vector< frc::Translation2d > bezierPoints, std::vector< RotationTarget > rotationTargets, std::vector< ConstraintsZone > constraintZones, std::vector< EventMarker > eventMarkers, PathConstraints globalConstraints, GoalEndState goalEndState, bool reversed)pathplanner::PathPlannerPath
PathPlannerPath(std::vector< frc::Translation2d > bezierPoints, PathConstraints constraints, GoalEndState goalEndState, bool reversed=false)pathplanner::PathPlannerPathinline
replan(const frc::Pose2d startingPose, const frc::ChassisSpeeds currentSpeeds) constpathplanner::PathPlannerPath
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathPlannerPath.html b/docs/cpp/classpathplanner_1_1PathPlannerPath.html new file mode 100644 index 00000000..36627d13 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerPath.html @@ -0,0 +1,707 @@ + + + + + + + +PathPlannerLib: pathplanner::PathPlannerPath Class Reference + + + + + + + + + + + + + + +
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+Public Member Functions

 PathPlannerPath (std::vector< frc::Translation2d > bezierPoints, std::vector< RotationTarget > rotationTargets, std::vector< ConstraintsZone > constraintZones, std::vector< EventMarker > eventMarkers, PathConstraints globalConstraints, GoalEndState goalEndState, bool reversed)
 
 PathPlannerPath (std::vector< frc::Translation2d > bezierPoints, PathConstraints constraints, GoalEndState goalEndState, bool reversed=false)
 
+void hotReload (const wpi::json &json)
 
PathConstraints getConstraintsForPoint (size_t idx)
 
constexpr const std::vector< PathPoint > & getAllPathPoints () const
 
size_t numPoints () const
 
const PathPoint & getPoint (size_t index) const
 
constexpr const PathConstraints & getGlobalConstraints () const
 
constexpr const GoalEndState & getGoalEndState () const
 
constexpr std::vector< EventMarker > & getEventMarkers ()
 
constexpr bool isReversed () const
 
std::shared_ptr< PathPlannerPath > replan (const frc::Pose2d startingPose, const frc::ChassisSpeeds currentSpeeds) const
 
+ + + + + + + + + +

+Static Public Member Functions

static std::vector< frc::Translation2d > bezierFromPoses (std::vector< frc::Pose2d > poses)
 
static std::shared_ptr< PathPlannerPath > fromPathFile (std::string pathName)
 
static PathPlannerPath fromPathPoints (std::vector< PathPoint > pathPoints, PathConstraints globalConstraints, GoalEndState goalEndState)
 
static std::vector< PathPoint > createPath (std::vector< frc::Translation2d > bezierPoints, std::vector< RotationTarget > holonomicRotations, std::vector< ConstraintsZone > constraintZones)
 
+

Constructor & Destructor Documentation

+ +

◆ PathPlannerPath() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
PathPlannerPath::PathPlannerPath (std::vector< frc::Translation2d > bezierPoints,
std::vector< RotationTarget > rotationTargets,
std::vector< ConstraintsZone > constraintZones,
std::vector< EventMarker > eventMarkers,
PathConstraints globalConstraints,
GoalEndState goalEndState,
bool reversed 
)
+
+

Create a new path planner path

+
Parameters
+ + + + + + + + +
bezierPointsList of points representing the cubic Bezier curve of the path
holonomicRotationsList of rotation targets along the path
constraintZonesList of constraint zones along the path
eventMarkersList of event markers along the path
globalConstraintsThe global constraints of the path
goalEndStateThe goal end state of the path
reversedShould the robot follow the path reversed (differential drive only)
+
+
+ +
+
+ +

◆ PathPlannerPath() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathPlannerPath::PathPlannerPath (std::vector< frc::Translation2d > bezierPoints,
PathConstraints constraints,
GoalEndState goalEndState,
bool reversed = false 
)
+ 		+inline
+
+

Simplified constructor to create a path with no rotation targets, constraint zones, or event markers.

+

You likely want to use bezierFromPoses to create the bezier points.

+
Parameters
+ + + + + +
bezierPointsList of points representing the cubic Bezier curve of the path
constraintsThe global constraints of the path
goalEndStateThe goal end state of the path
reversedShould the robot follow the path reversed (differential drive only)
+
+
+ +
+
+

Member Function Documentation

+ +

◆ bezierFromPoses()

+ +
+
+ + + + + +
+ + + + + + + + +
std::vector< frc::Translation2d > PathPlannerPath::bezierFromPoses (std::vector< frc::Pose2d > poses)
+ 		+static
+
+

Create the bezier points necessary to create a path using a list of poses

+
Parameters
+ + +
posesList of poses. Each pose represents one waypoint.
+
+
+
Returns
Bezier points
+ +
+
+ +

◆ createPath()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
std::vector< PathPoint > PathPlannerPath::createPath (std::vector< frc::Translation2d > bezierPoints,
std::vector< RotationTarget > holonomicRotations,
std::vector< ConstraintsZone > constraintZones 
)
+ 		+static
+
+

Generate path points for a path. This is used internally and should not be used directly.

+ +
+
+ +

◆ fromPathFile()

+ +
+
+ + + + + +
+ + + + + + + + +
std::shared_ptr< PathPlannerPath > PathPlannerPath::fromPathFile (std::string pathName)
+ 		+static
+
+

Load a path from a path file in storage

+
Parameters
+ + +
pathNameThe name of the path to load
+
+
+
Returns
shared ptr to the PathPlannerPath created from the given file name
+ +
+
+ +

◆ fromPathPoints()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
PathPlannerPath PathPlannerPath::fromPathPoints (std::vector< PathPoint > pathPoints,
PathConstraints globalConstraints,
GoalEndState goalEndState 
)
+ 		+static
+
+

Create a path planner path from pre-generated path points. This is used internally, and you likely should not use this

+ +
+
+ +

◆ getAllPathPoints()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr const std::vector< PathPoint > & pathplanner::PathPlannerPath::getAllPathPoints () const
+ 		+inlineconstexpr
+
+

Get all the path points in this path

+
Returns
Path points in the path
+ +
+
+ +

◆ getConstraintsForPoint()

+ +
+
+ + + + + +
+ + + + + + + + +
PathConstraints pathplanner::PathPlannerPath::getConstraintsForPoint (size_t idx)
+ 		+inline
+
+

Get the constraints for a point along the path

+
Parameters
+ + +
idxIndex of the point to get constraints for
+
+
+
Returns
The constraints that should apply to the point
+ +
+
+ +

◆ getEventMarkers()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr std::vector< EventMarker > & pathplanner::PathPlannerPath::getEventMarkers ()
+ 		+inlineconstexpr
+
+

Get all the event markers for this path

+
Returns
The event markers for this path
+ +
+
+ +

◆ getGlobalConstraints()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr const PathConstraints & pathplanner::PathPlannerPath::getGlobalConstraints () const
+ 		+inlineconstexpr
+
+

Get the global constraints for this path

+
Returns
Global constraints that apply to this path
+ +
+
+ +

◆ getGoalEndState()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr const GoalEndState & pathplanner::PathPlannerPath::getGoalEndState () const
+ 		+inlineconstexpr
+
+

Get the goal end state of this path

+
Returns
The goal end state
+ +
+
+ +

◆ getPoint()

+ +
+
+ + + + + +
+ + + + + + + + +
const PathPoint & pathplanner::PathPlannerPath::getPoint (size_t index) const
+ 		+inline
+
+

Get a specific point along this path

+
Parameters
+ + +
indexIndex of the point to get
+
+
+
Returns
The point at the given index
+ +
+
+ +

◆ isReversed()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr bool pathplanner::PathPlannerPath::isReversed () const
+ 		+inlineconstexpr
+
+

Should the path be followed reversed (differential drive only)

+
Returns
True if reversed
+ +
+
+ +

◆ numPoints()

+ +
+
+ + + + + +
+ + + + + + + +
size_t pathplanner::PathPlannerPath::numPoints () const
+ 		+inline
+
+

Get the number of points in this path

+
Returns
Number of points in the path
+ +
+
+ +

◆ replan()

+ +
+
+ + + + + + + + + + + + + + + + + + +
std::shared_ptr< PathPlannerPath > PathPlannerPath::replan (const frc::Pose2d startingPose,
const frc::ChassisSpeeds currentSpeeds 
) const
+
+

Replan this path based on the current robot position and speeds

+
Parameters
+ + + +
startingPoseNew starting pose for the replanned path
currentSpeedsCurrent chassis speeds of the robot
+
+
+
Returns
The replanned path
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathPlannerPath.js b/docs/cpp/classpathplanner_1_1PathPlannerPath.js new file mode 100644 index 00000000..4d761f55 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerPath.js @@ -0,0 +1,14 @@ +var classpathplanner_1_1PathPlannerPath = +[ + [ "PathPlannerPath", "classpathplanner_1_1PathPlannerPath.html#a247e643be6e7f1da959f318d67854b0b", null ], + [ "PathPlannerPath", "classpathplanner_1_1PathPlannerPath.html#a63cc832264c985fd779a0a71882ae4a2", null ], + [ "getAllPathPoints", "classpathplanner_1_1PathPlannerPath.html#a7d98826cbadfa78a92f6a53069de09ea", null ], + [ "getConstraintsForPoint", "classpathplanner_1_1PathPlannerPath.html#ac62037f69a815a7d7fe26bac400ddc12", null ], + [ "getEventMarkers", "classpathplanner_1_1PathPlannerPath.html#a97c6e010814eb0733af1cd4c13c32b93", null ], + [ "getGlobalConstraints", "classpathplanner_1_1PathPlannerPath.html#a8409e0700cf178b6e1da27a92023ac12", null ], + [ "getGoalEndState", "classpathplanner_1_1PathPlannerPath.html#a78876dc692b0a6a72ebdd3c9917f9826", null ], + [ "getPoint", "classpathplanner_1_1PathPlannerPath.html#a3f7ee172e69a9fe3c911d27f9332c624", null ], + [ "isReversed", "classpathplanner_1_1PathPlannerPath.html#a8e5f27c1607a5b68a4f5bf7a7e08cb2f", null ], + [ "numPoints", "classpathplanner_1_1PathPlannerPath.html#a986bd8fcd5b02df8786a0381ac86638c", null ], + [ "replan", "classpathplanner_1_1PathPlannerPath.html#a6adba9071719c8d75ff383504b0d1b61", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathPlannerTrajectory-members.html b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory-members.html new file mode 100644 index 00000000..cc5da5ac --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory-members.html @@ -0,0 +1,118 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::PathPlannerTrajectory Member List
+
+
+ +

This is the complete list of members for pathplanner::PathPlannerTrajectory, including all inherited members.

+ + + + + + + + + + + +
getEndState()pathplanner::PathPlannerTrajectoryinline
getInitialDifferentialPose()pathplanner::PathPlannerTrajectoryinline
getInitialState()pathplanner::PathPlannerTrajectoryinline
getInitialTargetHolonomicPose()pathplanner::PathPlannerTrajectoryinline
getState(size_t index)pathplanner::PathPlannerTrajectoryinline
getStates()pathplanner::PathPlannerTrajectoryinline
getTotalTime()pathplanner::PathPlannerTrajectoryinline
PathPlannerTrajectory() (defined in pathplanner::PathPlannerTrajectory)pathplanner::PathPlannerTrajectoryinline
PathPlannerTrajectory(std::shared_ptr< PathPlannerPath > path, const frc::ChassisSpeeds &startingSpeeds)pathplanner::PathPlannerTrajectoryinline
sample(const units::second_t time)pathplanner::PathPlannerTrajectory
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathPlannerTrajectory.html b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory.html new file mode 100644 index 00000000..1fed600a --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory.html @@ -0,0 +1,409 @@ + + + + + + + +PathPlannerLib: pathplanner::PathPlannerTrajectory Class Reference + + + + + + + + + + + + + + +
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+Classes

class  State
 
+ + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 PathPlannerTrajectory (std::shared_ptr< PathPlannerPath > path, const frc::ChassisSpeeds &startingSpeeds)
 
State sample (const units::second_t time)
 
constexpr std::vector< State > & getStates ()
 
units::second_t getTotalTime ()
 
State getState (size_t index)
 
State getInitialState ()
 
frc::Pose2d getInitialTargetHolonomicPose ()
 
frc::Pose2d getInitialDifferentialPose ()
 
State getEndState ()
 
+

Constructor & Destructor Documentation

+ +

◆ PathPlannerTrajectory()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
pathplanner::PathPlannerTrajectory::PathPlannerTrajectory (std::shared_ptr< PathPlannerPath > path,
const frc::ChassisSpeeds & startingSpeeds 
)
+ 		+inline
+
+

Generate a PathPlannerTrajectory

+
Parameters
+ + + +
pathPathPlannerPath to generate the trajectory for
startingSpeedsStarting speeds of the robot when starting the trajectory
+
+
+ +
+
+

Member Function Documentation

+ +

◆ getEndState()

+ +
+
+ + + + + +
+ + + + + + + +
State pathplanner::PathPlannerTrajectory::getEndState ()
+ 		+inline
+
+

Get the end state of the trajectory

+
Returns
The end state
+ +
+
+ +

◆ getInitialDifferentialPose()

+ +
+
+ + + + + +
+ + + + + + + +
frc::Pose2d pathplanner::PathPlannerTrajectory::getInitialDifferentialPose ()
+ 		+inline
+
+

Get this initial pose for a differential drivetrain

+
Returns
The initial pose
+ +
+
+ +

◆ getInitialState()

+ +
+
+ + + + + +
+ + + + + + + +
State pathplanner::PathPlannerTrajectory::getInitialState ()
+ 		+inline
+
+

Get the initial state of the trajectory

+
Returns
The initial state
+ +
+
+ +

◆ getInitialTargetHolonomicPose()

+ +
+
+ + + + + +
+ + + + + + + +
frc::Pose2d pathplanner::PathPlannerTrajectory::getInitialTargetHolonomicPose ()
+ 		+inline
+
+

Get the initial target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning the rotation will be the value of the next rotation target along the path, not what the rotation should be at the start of the path

+
Returns
The initial target pose
+ +
+
+ +

◆ getState()

+ +
+
+ + + + + +
+ + + + + + + + +
State pathplanner::PathPlannerTrajectory::getState (size_t index)
+ 		+inline
+
+

Get the goal state at the given index

+
Parameters
+ + +
indexIndex of the state to get
+
+
+
Returns
The state at the given index
+ +
+
+ +

◆ getStates()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr std::vector< State > & pathplanner::PathPlannerTrajectory::getStates ()
+ 		+inlineconstexpr
+
+

Get all of the pre-generated states in the trajectory

+
Returns
vector of all states
+ +
+
+ +

◆ getTotalTime()

+ +
+
+ + + + + +
+ + + + + + + +
units::second_t pathplanner::PathPlannerTrajectory::getTotalTime ()
+ 		+inline
+
+

Get the total run time of the trajectory

+
Returns
Total run time in seconds
+ +
+
+ +

◆ sample()

+ +
+
+ + + + + + + + +
PathPlannerTrajectory::State PathPlannerTrajectory::sample (const units::second_t time)
+
+

Get the target state at the given point in time along the trajectory

+
Parameters
+ + +
timeThe time to sample the trajectory at in seconds
+
+
+
Returns
The target state
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathPlannerTrajectory.js b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory.js new file mode 100644 index 00000000..8221ae59 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory.js @@ -0,0 +1,13 @@ +var classpathplanner_1_1PathPlannerTrajectory = +[ + [ "State", "classpathplanner_1_1PathPlannerTrajectory_1_1State.html", "classpathplanner_1_1PathPlannerTrajectory_1_1State" ], + [ "PathPlannerTrajectory", "classpathplanner_1_1PathPlannerTrajectory.html#a8063217aeeb651633a87e40370cc83a0", null ], + [ "getEndState", "classpathplanner_1_1PathPlannerTrajectory.html#ad9bee7be286923a359d26bed7eefcbd0", null ], + [ "getInitialDifferentialPose", "classpathplanner_1_1PathPlannerTrajectory.html#acf9de5ca2d759d223405a16357049744", null ], + [ "getInitialState", "classpathplanner_1_1PathPlannerTrajectory.html#a03b44fbc085e5a9d899b68d7c68980f2", null ], + [ "getInitialTargetHolonomicPose", "classpathplanner_1_1PathPlannerTrajectory.html#a6d8107a32a708c654dd08a2fa7e568e1", null ], + [ "getState", "classpathplanner_1_1PathPlannerTrajectory.html#a0a699d6d04d75425d78089115f3eaaaa", null ], + [ "getStates", "classpathplanner_1_1PathPlannerTrajectory.html#a6f935d670bfa0d45079ce51661224af9", null ], + [ "getTotalTime", "classpathplanner_1_1PathPlannerTrajectory.html#a2329ac90fd3511ac1131ccc3809c4cb0", null ], + [ "sample", "classpathplanner_1_1PathPlannerTrajectory.html#a2a6b514d0f95d7890a8e3ed150a2036a", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State-members.html b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State-members.html new file mode 100644 index 00000000..80ecfa20 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State-members.html @@ -0,0 +1,123 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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This is the complete list of members for pathplanner::PathPlannerTrajectory::State, including all inherited members.

+ + + + + + + + + + + + + + + + +
acceleration (defined in pathplanner::PathPlannerTrajectory::State)pathplanner::PathPlannerTrajectory::State
constraints (defined in pathplanner::PathPlannerTrajectory::State)pathplanner::PathPlannerTrajectory::State
curvature (defined in pathplanner::PathPlannerTrajectory::State)pathplanner::PathPlannerTrajectory::State
deltaPos (defined in pathplanner::PathPlannerTrajectory::State)pathplanner::PathPlannerTrajectory::State
getDifferentialPose() constpathplanner::PathPlannerTrajectory::Stateinline
getTargetHolonomicPose() constpathplanner::PathPlannerTrajectory::Stateinline
heading (defined in pathplanner::PathPlannerTrajectory::State)pathplanner::PathPlannerTrajectory::State
headingAngularVelocity (defined in pathplanner::PathPlannerTrajectory::State)pathplanner::PathPlannerTrajectory::State
interpolate(const State &endValue, double t) const (defined in pathplanner::PathPlannerTrajectory::State)pathplanner::PathPlannerTrajectory::Stateinline
position (defined in pathplanner::PathPlannerTrajectory::State)pathplanner::PathPlannerTrajectory::State
reverse() constpathplanner::PathPlannerTrajectory::Stateinline
State() (defined in pathplanner::PathPlannerTrajectory::State)pathplanner::PathPlannerTrajectory::Stateinline
targetHolonomicRotation (defined in pathplanner::PathPlannerTrajectory::State)pathplanner::PathPlannerTrajectory::State
time (defined in pathplanner::PathPlannerTrajectory::State)pathplanner::PathPlannerTrajectory::State
velocity (defined in pathplanner::PathPlannerTrajectory::State)pathplanner::PathPlannerTrajectory::State
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State.html b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State.html new file mode 100644 index 00000000..3988f76b --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State.html @@ -0,0 +1,241 @@ + + + + + + + +PathPlannerLib: pathplanner::PathPlannerTrajectory::State Class Reference + + + + + + + + + + + + + + +
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+Public Member Functions

+constexpr State interpolate (const State &endValue, double t) const
 
constexpr frc::Pose2d getTargetHolonomicPose () const
 
constexpr frc::Pose2d getDifferentialPose () const
 
constexpr State reverse () const
 
+ + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+units::second_t time
 
+units::meters_per_second_t velocity
 
+units::meters_per_second_squared_t acceleration
 
+units::radians_per_second_t headingAngularVelocity
 
+frc::Translation2d position
 
+frc::Rotation2d heading
 
+frc::Rotation2d targetHolonomicRotation
 
+units::curvature_t curvature
 
+PathConstraints constraints
 
+units::meter_t deltaPos
 
+

Member Function Documentation

+ +

◆ getDifferentialPose()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr frc::Pose2d pathplanner::PathPlannerTrajectory::State::getDifferentialPose () const
+ 		+inlineconstexpr
+
+

Get this pose for a differential drivetrain

+
Returns
The pose
+ +
+
+ +

◆ getTargetHolonomicPose()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr frc::Pose2d pathplanner::PathPlannerTrajectory::State::getTargetHolonomicPose () const
+ 		+inlineconstexpr
+
+

Get the target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning the rotation will be the value of the next rotation target along the path, not what the rotation should be at the start of the path

+
Returns
The target pose
+ +
+
+ +

◆ reverse()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr State pathplanner::PathPlannerTrajectory::State::reverse () const
+ 		+inlineconstexpr
+
+

Get the state reversed, used for following a trajectory reversed with a differential drivetrain

+
Returns
The reversed state
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State.js b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State.js new file mode 100644 index 00000000..9fa0acc3 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State.js @@ -0,0 +1,6 @@ +var classpathplanner_1_1PathPlannerTrajectory_1_1State = +[ + [ "getDifferentialPose", "classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08", null ], + [ "getTargetHolonomicPose", "classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ac4973e5c1f460c635997af5f50b20d57", null ], + [ "reverse", "classpathplanner_1_1PathPlannerTrajectory_1_1State.html#a3c0e46f74c1b27e38d3416a2f97b678f", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathPoint-members.html b/docs/cpp/classpathplanner_1_1PathPoint-members.html new file mode 100644 index 00000000..ea5c6968 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPoint-members.html @@ -0,0 +1,115 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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constraints (defined in pathplanner::PathPoint)pathplanner::PathPoint
curveRadius (defined in pathplanner::PathPoint)pathplanner::PathPoint
distanceAlongPath (defined in pathplanner::PathPoint)pathplanner::PathPoint
holonomicRotation (defined in pathplanner::PathPoint)pathplanner::PathPoint
maxV (defined in pathplanner::PathPoint)pathplanner::PathPoint
PathPoint(frc::Translation2d pos, std::optional< frc::Rotation2d > rot, std::optional< PathConstraints > pathCostriaints) (defined in pathplanner::PathPoint)pathplanner::PathPointinline
position (defined in pathplanner::PathPoint)pathplanner::PathPoint
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathPoint.html b/docs/cpp/classpathplanner_1_1PathPoint.html new file mode 100644 index 00000000..e8cc7ebb --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathPoint.html @@ -0,0 +1,157 @@ + + + + + + + +PathPlannerLib: pathplanner::PathPoint Class Reference + + + + + + + + + + + + + + +
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+Public Member Functions

+constexpr PathPoint (frc::Translation2d pos, std::optional< frc::Rotation2d > rot, std::optional< PathConstraints > pathCostriaints)
 
+ + + + + + + + + + + + + +

+Public Attributes

+frc::Translation2d position
 
+units::meter_t distanceAlongPath = 0_m
 
+units::meter_t curveRadius = 0_m
 
units::meters_per_second_t maxV
 
+std::optional< frc::Rotation2d > holonomicRotation = std::nullopt
 
+std::optional< PathConstraints > constraints = std::nullopt
 
+

Member Data Documentation

+ +

◆ maxV

+ +
+
+ + + + +
units::meters_per_second_t pathplanner::PathPoint::maxV
+
+Initial value:
= units::meters_per_second_t {
+
std::numeric_limits<double>::infinity() }
+
+
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathSegment-members.html b/docs/cpp/classpathplanner_1_1PathSegment-members.html new file mode 100644 index 00000000..e62f1031 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathSegment-members.html @@ -0,0 +1,112 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::PathSegment Member List
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This is the complete list of members for pathplanner::PathSegment, including all inherited members.

+ + + + + +
getSegmentPoints()pathplanner::PathSegmentinline
PathSegment(frc::Translation2d p1, frc::Translation2d p2, frc::Translation2d p3, frc::Translation2d p4, std::vector< RotationTarget > targetHolonomicRotations, std::vector< ConstraintsZone > constraintZones, bool endSegment)pathplanner::PathSegment
PathSegment(frc::Translation2d p1, frc::Translation2d p2, frc::Translation2d p3, frc::Translation2d p4, bool endSegment)pathplanner::PathSegmentinline
RESOLUTION (defined in pathplanner::PathSegment)pathplanner::PathSegmentstatic
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathSegment.html b/docs/cpp/classpathplanner_1_1PathSegment.html new file mode 100644 index 00000000..0f7265e1 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathSegment.html @@ -0,0 +1,295 @@ + + + + + + + +PathPlannerLib: pathplanner::PathSegment Class Reference + + + + + + + + + + + + + + +
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+Public Member Functions

 PathSegment (frc::Translation2d p1, frc::Translation2d p2, frc::Translation2d p3, frc::Translation2d p4, std::vector< RotationTarget > targetHolonomicRotations, std::vector< ConstraintsZone > constraintZones, bool endSegment)
 
 PathSegment (frc::Translation2d p1, frc::Translation2d p2, frc::Translation2d p3, frc::Translation2d p4, bool endSegment)
 
constexpr std::vector< PathPoint > & getSegmentPoints ()
 
+ + + +

+Static Public Attributes

+static constexpr double RESOLUTION = 0.05
 
+

Constructor & Destructor Documentation

+ +

◆ PathSegment() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
PathSegment::PathSegment (frc::Translation2d p1,
frc::Translation2d p2,
frc::Translation2d p3,
frc::Translation2d p4,
std::vector< RotationTarget > targetHolonomicRotations,
std::vector< ConstraintsZone > constraintZones,
bool endSegment 
)
+
+

Generate a new path segment

+
Parameters
+ + + + + + + + +
p1Start anchor point
p2Start next control
p3End prev control
p4End anchor point
targetHolonomicRotationsRotation targets for within this segment
constraintZonesConstraint zones for within this segment
endSegmentIs this the last segment in the path
+
+
+ +
+
+ +

◆ PathSegment() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathSegment::PathSegment (frc::Translation2d p1,
frc::Translation2d p2,
frc::Translation2d p3,
frc::Translation2d p4,
bool endSegment 
)
+ 		+inline
+
+

Generate a new path segment without constraint zones or rotation targets

+
Parameters
+ + + + + + +
p1Start anchor point
p2Start next control
p3End prev control
p4End anchor point
endSegmentIs this the last segment in the path
+
+
+ +
+
+

Member Function Documentation

+ +

◆ getSegmentPoints()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr std::vector< PathPoint > & pathplanner::PathSegment::getSegmentPoints ()
+ 		+inlineconstexpr
+
+

Get the path points for this segment

+
Returns
Path points for this segment
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathSegment.js b/docs/cpp/classpathplanner_1_1PathSegment.js new file mode 100644 index 00000000..7d43e512 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathSegment.js @@ -0,0 +1,6 @@ +var classpathplanner_1_1PathSegment = +[ + [ "PathSegment", "classpathplanner_1_1PathSegment.html#a86dd03e168b517c3ec71cf778f5cf5df", null ], + [ "PathSegment", "classpathplanner_1_1PathSegment.html#a212b955e6c46a332fe5eec3ec3f21929", null ], + [ "getSegmentPoints", "classpathplanner_1_1PathSegment.html#ae29272731c67c2c2d75ba63f31db970d", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathfindHolonomic-members.html b/docs/cpp/classpathplanner_1_1PathfindHolonomic-members.html new file mode 100644 index 00000000..d3713b48 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindHolonomic-members.html @@ -0,0 +1,117 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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+ + + + + + + + + + +
End(bool interrupted) override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
Execute() override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
Initialize() override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
IsFinished() override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
PathfindHolonomic(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)pathplanner::PathfindHolonomicinline
PathfindHolonomic(frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)pathplanner::PathfindHolonomicinline
PathfindHolonomic(frc::Pose2d targetPose, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)pathplanner::PathfindHolonomicinline
PathfindingCommand(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)pathplanner::PathfindingCommand
PathfindingCommand(frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)pathplanner::PathfindingCommand
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindHolonomic.html b/docs/cpp/classpathplanner_1_1PathfindHolonomic.html new file mode 100644 index 00000000..a66233f8 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindHolonomic.html @@ -0,0 +1,414 @@ + + + + + + + +PathPlannerLib: pathplanner::PathfindHolonomic Class Reference + + + + + + + + + + + + + + +
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+Inheritance diagram for pathplanner::PathfindHolonomic:
+
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+ + +pathplanner::PathfindingCommand + +
+ + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 PathfindHolonomic (std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)
 
 PathfindHolonomic (frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)
 
 PathfindHolonomic (frc::Pose2d targetPose, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)
 
- Public Member Functions inherited from pathplanner::PathfindingCommand
 PathfindingCommand (std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)
 
 PathfindingCommand (frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)
 
+void Initialize () override
 
+void Execute () override
 
+bool IsFinished () override
 
+void End (bool interrupted) override
 
+

Constructor & Destructor Documentation

+ +

◆ PathfindHolonomic() [1/3]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathfindHolonomic::PathfindHolonomic (std::shared_ptr< PathPlannerPath > targetPath,
PathConstraints constraints,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> output,
HolonomicPathFollowerConfig config,
frc2::Requirements requirements,
units::meter_t rotationDelayDistance = 0_m 
)
+ 		+inline
+
+

Constructs a new PathfindHolonomic command that will generate a path towards the given path.

+
Parameters
+ + + + + + + + + +
targetPaththe path to pathfind to
constraintsthe path constraints to use while pathfinding
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (robot relative)
configHolonomicPathFollowerConfig object with the configuration parameters for path following
requirementsthe subsystems required by this command
rotationDelayDistanceDistance to delay the target rotation of the robot. This will cause the robot to hold its current rotation until it reaches the given distance along the path. Default = 0 m
+
+
+ +
+
+ +

◆ PathfindHolonomic() [2/3]

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pathplanner::PathfindHolonomic::PathfindHolonomic (frc::Pose2d targetPose,
PathConstraints constraints,
units::meters_per_second_t goalEndVel,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> output,
HolonomicPathFollowerConfig config,
frc2::Requirements requirements,
units::meter_t rotationDelayDistance = 0_m 
)
+ 		+inline
+
+

Constructs a new PathfindHolonomic command that will generate a path towards the given pose.

+
Parameters
+ + + + + + + + + + +
targetPosethe pose to pathfind to
constraintsthe path constraints to use while pathfinding
goalEndVelThe goal end velocity when reaching the given pose
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (field relative if holonomic, robot relative if differential)
configHolonomicPathFollowerConfig object with the configuration parameters for path following
requirementsthe subsystems required by this command
rotationDelayDistanceDistance to delay the target rotation of the robot. This will cause the robot to hold its current rotation until it reaches the given distance along the path. Default = 0 m
+
+
+ +
+
+ +

◆ PathfindHolonomic() [3/3]

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pathplanner::PathfindHolonomic::PathfindHolonomic (frc::Pose2d targetPose,
PathConstraints constraints,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> output,
HolonomicPathFollowerConfig config,
frc2::Requirements requirements,
units::meter_t rotationDelayDistance = 0_m 
)
+ 		+inline
+
+

Constructs a new PathfindHolonomic command that will generate a path towards the given pose.

+
Parameters
+ + + + + + + + + +
targetPosethe pose to pathfind to
constraintsthe path constraints to use while pathfinding
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (field relative if holonomic, robot relative if differential)
configHolonomicPathFollowerConfig object with the configuration parameters for path following
requirementsthe subsystems required by this command
rotationDelayDistanceDistance to delay the target rotation of the robot. This will cause the robot to hold its current rotation until it reaches the given distance along the path. Default = 0 m
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindHolonomic.js b/docs/cpp/classpathplanner_1_1PathfindHolonomic.js new file mode 100644 index 00000000..9f6e13d7 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindHolonomic.js @@ -0,0 +1,6 @@ +var classpathplanner_1_1PathfindHolonomic = +[ + [ "PathfindHolonomic", "classpathplanner_1_1PathfindHolonomic.html#a51f352aeb9662256421e25495cba0764", null ], + [ "PathfindHolonomic", "classpathplanner_1_1PathfindHolonomic.html#af8d4fe139d8c7dc51e7c66a95e3d0606", null ], + [ "PathfindHolonomic", "classpathplanner_1_1PathfindHolonomic.html#a36345732d29be7a006750d21a619cb33", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathfindHolonomic.png b/docs/cpp/classpathplanner_1_1PathfindHolonomic.png new file mode 100644 index 00000000..332b58b4 Binary files /dev/null and b/docs/cpp/classpathplanner_1_1PathfindHolonomic.png differ diff --git a/docs/cpp/classpathplanner_1_1PathfindLTV-members.html b/docs/cpp/classpathplanner_1_1PathfindLTV-members.html new file mode 100644 index 00000000..c069c8d5 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindLTV-members.html @@ -0,0 +1,118 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::PathfindLTV Member List
+
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This is the complete list of members for pathplanner::PathfindLTV, including all inherited members.

+ + + + + + + + + + + +
End(bool interrupted) override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
Execute() override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
Initialize() override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
IsFinished() override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
PathfindingCommand(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)pathplanner::PathfindingCommand
PathfindingCommand(frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)pathplanner::PathfindingCommand
PathfindLTV(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, frc2::Requirements requirements)pathplanner::PathfindLTVinline
PathfindLTV(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, units::second_t dt, frc2::Requirements requirements)pathplanner::PathfindLTVinline
PathfindLTV(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, frc2::Requirements requirements)pathplanner::PathfindLTVinline
PathfindLTV(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, units::second_t dt, frc2::Requirements requirements)pathplanner::PathfindLTVinline
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindLTV.html b/docs/cpp/classpathplanner_1_1PathfindLTV.html new file mode 100644 index 00000000..7377979d --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindLTV.html @@ -0,0 +1,509 @@ + + + + + + + +PathPlannerLib: pathplanner::PathfindLTV Class Reference + + + + + + + + + + + + + + +
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PathPlannerLib +
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+Inheritance diagram for pathplanner::PathfindLTV:
+
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+ + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 PathfindLTV (std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, frc2::Requirements requirements)
 
 PathfindLTV (std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, units::second_t dt, frc2::Requirements requirements)
 
 PathfindLTV (frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, frc2::Requirements requirements)
 
 PathfindLTV (frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, units::second_t dt, frc2::Requirements requirements)
 
- Public Member Functions inherited from pathplanner::PathfindingCommand
 PathfindingCommand (std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)
 
 PathfindingCommand (frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)
 
+void Initialize () override
 
+void Execute () override
 
+bool IsFinished () override
 
+void End (bool interrupted) override
 
+

Constructor & Destructor Documentation

+ +

◆ PathfindLTV() [1/4]

+ +
+
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pathplanner::PathfindLTV::PathfindLTV (std::shared_ptr< PathPlannerPath > targetPath,
PathConstraints constraints,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> output,
const wpi::array< double, 3 > & Qelems,
const wpi::array< double, 2 > & Relems,
units::second_t dt,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Constructs a new PathfindLTV command that will generate a path towards the given path.

+
Parameters
+ + + + + + + + + + +
targetPaththe path to pathfind to
constraintsthe path constraints to use while pathfinding
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (robot relative)
QelemsThe maximum desired error tolerance for each state.
RelemsThe maximum desired control effort for each input.
dtPeriod of the robot control loop in seconds (default 0.02)
requirementsthe subsystems required by this command
+
+
+ +
+
+ +

◆ PathfindLTV() [2/4]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathfindLTV::PathfindLTV (std::shared_ptr< PathPlannerPath > targetPath,
PathConstraints constraints,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> output,
units::second_t dt,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Constructs a new PathfindLTV command that will generate a path towards the given path.

+
Parameters
+ + + + + + + + +
targetPaththe path to pathfind to
constraintsthe path constraints to use while pathfinding
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (robot relative)
dtPeriod of the robot control loop in seconds (default 0.02)
requirementsthe subsystems required by this command
+
+
+ +
+
+ +

◆ PathfindLTV() [3/4]

+ +
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pathplanner::PathfindLTV::PathfindLTV (frc::Translation2d targetPosition,
PathConstraints constraints,
units::meters_per_second_t goalEndVel,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> output,
const wpi::array< double, 3 > & Qelems,
const wpi::array< double, 2 > & Relems,
units::second_t dt,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Constructs a new PathfindLTV command that will generate a path towards the given position.

+
Parameters
+ + + + + + + + + + + +
targetPositionthe position to pathfind to
constraintsthe path constraints to use while pathfinding
goalEndVelThe goal end velocity when reaching the given position
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (robot relative)
QelemsThe maximum desired error tolerance for each state.
RelemsThe maximum desired control effort for each input.
dtPeriod of the robot control loop in seconds (default 0.02)
requirementsthe subsystems required by this command
+
+
+ +
+
+ +

◆ PathfindLTV() [4/4]

+ +
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pathplanner::PathfindLTV::PathfindLTV (frc::Translation2d targetPosition,
PathConstraints constraints,
units::meters_per_second_t goalEndVel,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> output,
units::second_t dt,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Constructs a new PathfindLTV command that will generate a path towards the given position.

+
Parameters
+ + + + + + + + + +
targetPositionthe position to pathfind to
constraintsthe path constraints to use while pathfinding
goalEndVelThe goal end velocity when reaching the given position
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (robot relative)
dtPeriod of the robot control loop in seconds (default 0.02)
requirementsthe subsystems required by this command
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindLTV.js b/docs/cpp/classpathplanner_1_1PathfindLTV.js new file mode 100644 index 00000000..01080be8 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindLTV.js @@ -0,0 +1,7 @@ +var classpathplanner_1_1PathfindLTV = +[ + [ "PathfindLTV", "classpathplanner_1_1PathfindLTV.html#ae47ba3c72dc3814e4aa7292caf326eb8", null ], + [ "PathfindLTV", "classpathplanner_1_1PathfindLTV.html#a8982265d7d797bc0a424428b35f091c6", null ], + [ "PathfindLTV", "classpathplanner_1_1PathfindLTV.html#a42f76f92050cc6c1f3ee6be109b6ad74", null ], + [ "PathfindLTV", "classpathplanner_1_1PathfindLTV.html#a4ca5ff25b6e9a19924c2336980fc1561", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathfindLTV.png b/docs/cpp/classpathplanner_1_1PathfindLTV.png new file mode 100644 index 00000000..af1ac6fa Binary files /dev/null and b/docs/cpp/classpathplanner_1_1PathfindLTV.png differ diff --git a/docs/cpp/classpathplanner_1_1PathfindRamsete-members.html b/docs/cpp/classpathplanner_1_1PathfindRamsete-members.html new file mode 100644 index 00000000..f2f419ca --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindRamsete-members.html @@ -0,0 +1,118 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::PathfindRamsete Member List
+
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+ +

This is the complete list of members for pathplanner::PathfindRamsete, including all inherited members.

+ + + + + + + + + + + +
End(bool interrupted) override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
Execute() override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
Initialize() override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
IsFinished() override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
PathfindingCommand(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)pathplanner::PathfindingCommand
PathfindingCommand(frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)pathplanner::PathfindingCommand
PathfindRamsete(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, units::unit_t< PPRamseteController::b_unit > b, units::unit_t< PPRamseteController::zeta_unit > zeta, frc2::Requirements requirements)pathplanner::PathfindRamseteinline
PathfindRamsete(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, frc2::Requirements requirements)pathplanner::PathfindRamseteinline
PathfindRamsete(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, units::unit_t< PPRamseteController::b_unit > b, units::unit_t< PPRamseteController::zeta_unit > zeta, frc2::Requirements requirements)pathplanner::PathfindRamseteinline
PathfindRamsete(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, frc2::Requirements requirements)pathplanner::PathfindRamseteinline
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindRamsete.html b/docs/cpp/classpathplanner_1_1PathfindRamsete.html new file mode 100644 index 00000000..6e36b653 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindRamsete.html @@ -0,0 +1,481 @@ + + + + + + + +PathPlannerLib: pathplanner::PathfindRamsete Class Reference + + + + + + + + + + + + + + +
+
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PathPlannerLib +
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+
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+Public Member Functions

 PathfindRamsete (std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, units::unit_t< PPRamseteController::b_unit > b, units::unit_t< PPRamseteController::zeta_unit > zeta, frc2::Requirements requirements)
 
 PathfindRamsete (std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, frc2::Requirements requirements)
 
 PathfindRamsete (frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, units::unit_t< PPRamseteController::b_unit > b, units::unit_t< PPRamseteController::zeta_unit > zeta, frc2::Requirements requirements)
 
 PathfindRamsete (frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> output, frc2::Requirements requirements)
 
- Public Member Functions inherited from pathplanner::PathfindingCommand
 PathfindingCommand (std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)
 
 PathfindingCommand (frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)
 
+void Initialize () override
 
+void Execute () override
 
+bool IsFinished () override
 
+void End (bool interrupted) override
 
+

Constructor & Destructor Documentation

+ +

◆ PathfindRamsete() [1/4]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathfindRamsete::PathfindRamsete (std::shared_ptr< PathPlannerPath > targetPath,
PathConstraints constraints,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> output,
units::unit_t< PPRamseteController::b_unit > b,
units::unit_t< PPRamseteController::zeta_unit > zeta,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Constructs a new PathfindRamsete command that will generate a path towards the given path.

+
Parameters
+ + + + + + + + + +
targetPaththe path to pathfind to
constraintsthe path constraints to use while pathfinding
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (robot relative)
bTuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term.
zetaTuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide more damping in response.
requirementsthe subsystems required by this command
+
+
+ +
+
+ +

◆ PathfindRamsete() [2/4]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathfindRamsete::PathfindRamsete (std::shared_ptr< PathPlannerPath > targetPath,
PathConstraints constraints,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> output,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Constructs a new PathfindRamsete command that will generate a path towards the given path.

+
Parameters
+ + + + + + + +
targetPaththe path to pathfind to
constraintsthe path constraints to use while pathfinding
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (robot relative)
requirementsthe subsystems required by this command
+
+
+ +
+
+ +

◆ PathfindRamsete() [3/4]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathfindRamsete::PathfindRamsete (frc::Translation2d targetPosition,
PathConstraints constraints,
units::meters_per_second_t goalEndVel,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> output,
units::unit_t< PPRamseteController::b_unit > b,
units::unit_t< PPRamseteController::zeta_unit > zeta,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Constructs a new PathfindRamsete command that will generate a path towards the given position.

+
Parameters
+ + + + + + + + + + +
targetPositionthe position to pathfind to
constraintsthe path constraints to use while pathfinding
goalEndVelThe goal end velocity when reaching the given position
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (robot relative)
bTuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term.
zetaTuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide more damping in response.
requirementsthe subsystems required by this command
+
+
+ +
+
+ +

◆ PathfindRamsete() [4/4]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathfindRamsete::PathfindRamsete (frc::Translation2d targetPosition,
PathConstraints constraints,
units::meters_per_second_t goalEndVel,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> output,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Constructs a new PathfindRamsete command that will generate a path towards the given position.

+
Parameters
+ + + + + + + + +
targetPositionthe position to pathfind to
constraintsthe path constraints to use while pathfinding
goalEndVelThe goal end velocity when reaching the given position
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (robot relative)
requirementsthe subsystems required by this command
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindRamsete.js b/docs/cpp/classpathplanner_1_1PathfindRamsete.js new file mode 100644 index 00000000..30e03aca --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindRamsete.js @@ -0,0 +1,7 @@ +var classpathplanner_1_1PathfindRamsete = +[ + [ "PathfindRamsete", "classpathplanner_1_1PathfindRamsete.html#a2b53a0d2800954213c06118332ee786e", null ], + [ "PathfindRamsete", "classpathplanner_1_1PathfindRamsete.html#a423f0d6e6359596851c7529bd8527731", null ], + [ "PathfindRamsete", "classpathplanner_1_1PathfindRamsete.html#a72a2a36de2458c757a3e202d2c2a1250", null ], + [ "PathfindRamsete", "classpathplanner_1_1PathfindRamsete.html#a76a0a7032f707e32c93f3d69c7a8f682", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathfindRamsete.png b/docs/cpp/classpathplanner_1_1PathfindRamsete.png new file mode 100644 index 00000000..d122bdf9 Binary files /dev/null and b/docs/cpp/classpathplanner_1_1PathfindRamsete.png differ diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathHolonomic-members.html b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathHolonomic-members.html new file mode 100644 index 00000000..9c8677c7 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathHolonomic-members.html @@ -0,0 +1,109 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::PathfindThenFollowPathHolonomic Member List
+
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+ +

This is the complete list of members for pathplanner::PathfindThenFollowPathHolonomic, including all inherited members.

+ + +
PathfindThenFollowPathHolonomic(std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)pathplanner::PathfindThenFollowPathHolonomicinline
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathHolonomic.html b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathHolonomic.html new file mode 100644 index 00000000..172721d3 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathHolonomic.html @@ -0,0 +1,211 @@ + + + + + + + +PathPlannerLib: pathplanner::PathfindThenFollowPathHolonomic Class Reference + + + + + + + + + + + + + + +
+
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PathPlannerLib +
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+Public Member Functions | +List of all members
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pathplanner::PathfindThenFollowPathHolonomic Class Reference
+
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+Inheritance diagram for pathplanner::PathfindThenFollowPathHolonomic:
+
+
+ +
+ + + + +

+Public Member Functions

 PathfindThenFollowPathHolonomic (std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)
 
+

Constructor & Destructor Documentation

+ +

◆ PathfindThenFollowPathHolonomic()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathfindThenFollowPathHolonomic::PathfindThenFollowPathHolonomic (std::shared_ptr< PathPlannerPath > goalPath,
PathConstraints pathfindingConstraints,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> robotRelativeOutput,
HolonomicPathFollowerConfig config,
frc2::Requirements requirements,
units::meter_t rotationDelayDistance = 0_m 
)
+ 		+inline
+
+

Constructs a new PathfindThenFollowPathHolonomic command group.

+
Parameters
+ + + + + + + + + +
goalPaththe goal path to follow
pathfindingConstraintsthe path constraints for pathfinding
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
robotRelativeOutputa consumer for the output speeds (robot relative)
configHolonomicPathFollowerConfig for configuring the path following commands
requirementsthe subsystems required by this command (drive subsystem)
rotationDelayDistanceDistance to delay the target rotation of the robot. This will cause the robot to hold its current rotation until it reaches the given distance along the path. Default = 0 m
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathHolonomic.js b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathHolonomic.js new file mode 100644 index 00000000..c6f65529 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathHolonomic.js @@ -0,0 +1,4 @@ +var classpathplanner_1_1PathfindThenFollowPathHolonomic = +[ + [ "PathfindThenFollowPathHolonomic", "classpathplanner_1_1PathfindThenFollowPathHolonomic.html#ab4962b3998abfc86a5b8ea2c81d2fe59", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathHolonomic.png b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathHolonomic.png new file mode 100644 index 00000000..2dcb058d Binary files /dev/null and b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathHolonomic.png differ diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV-members.html b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV-members.html new file mode 100644 index 00000000..af2160fb --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV-members.html @@ -0,0 +1,110 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::PathfindThenFollowPathLTV Member List
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This is the complete list of members for pathplanner::PathfindThenFollowPathLTV, including all inherited members.

+ + + +
PathfindThenFollowPathLTV(std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)pathplanner::PathfindThenFollowPathLTVinline
PathfindThenFollowPathLTV(std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)pathplanner::PathfindThenFollowPathLTVinline
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV.html b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV.html new file mode 100644 index 00000000..8e1bec73 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV.html @@ -0,0 +1,313 @@ + + + + + + + +PathPlannerLib: pathplanner::PathfindThenFollowPathLTV Class Reference + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
+
+
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+Public Member Functions | +List of all members
+
pathplanner::PathfindThenFollowPathLTV Class Reference
+
+
+
+Inheritance diagram for pathplanner::PathfindThenFollowPathLTV:
+
+
+ +
+ + + + + + +

+Public Member Functions

 PathfindThenFollowPathLTV (std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)
 
 PathfindThenFollowPathLTV (std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)
 
+

Constructor & Destructor Documentation

+ +

◆ PathfindThenFollowPathLTV() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathfindThenFollowPathLTV::PathfindThenFollowPathLTV (std::shared_ptr< PathPlannerPath > goalPath,
PathConstraints pathfindingConstraints,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> robotRelativeOutput,
const wpi::array< double, 3 > & Qelems,
const wpi::array< double, 2 > & Relems,
units::second_t dt,
ReplanningConfig replanningConfig,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Constructs a new PathfindThenFollowPathLTV command group.

+
Parameters
+ + + + + + + + + + + +
goalPaththe goal path to follow
pathfindingConstraintsthe path constraints for pathfinding
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
robotRelativeOutputa consumer for the output speeds (robot relative)
qelemsThe maximum desired error tolerance for each state.
relemsThe maximum desired control effort for each input.
dtPeriod of the robot control loop in seconds (default 0.02)
replanningConfigPath replanning configuration
requirementsthe subsystems required by this command (drive subsystem)
+
+
+ +
+
+ +

◆ PathfindThenFollowPathLTV() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathfindThenFollowPathLTV::PathfindThenFollowPathLTV (std::shared_ptr< PathPlannerPath > goalPath,
PathConstraints pathfindingConstraints,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> robotRelativeOutput,
units::second_t dt,
ReplanningConfig replanningConfig,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Constructs a new PathfindThenFollowPathLTV command group.

+
Parameters
+ + + + + + + + + +
goalPaththe goal path to follow
pathfindingConstraintsthe path constraints for pathfinding
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
robotRelativeOutputa consumer for the output speeds (robot relative)
dtPeriod of the robot control loop in seconds (default 0.02)
replanningConfigPath replanning configuration
requirementsthe subsystems required by this command (drive subsystem)
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV.js b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV.js new file mode 100644 index 00000000..d721c58a --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV.js @@ -0,0 +1,5 @@ +var classpathplanner_1_1PathfindThenFollowPathLTV = +[ + [ "PathfindThenFollowPathLTV", "classpathplanner_1_1PathfindThenFollowPathLTV.html#ae764104c64f9451b6b82c10dbf01bab1", null ], + [ "PathfindThenFollowPathLTV", "classpathplanner_1_1PathfindThenFollowPathLTV.html#ac6f0774fce7316b1b1b0ec0c44f24040", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV.png b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV.png new file mode 100644 index 00000000..02c91196 Binary files /dev/null and b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV.png differ diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete-members.html b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete-members.html new file mode 100644 index 00000000..07e33fa8 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete-members.html @@ -0,0 +1,110 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::PathfindThenFollowPathRamsete Member List
+
+
+ +

This is the complete list of members for pathplanner::PathfindThenFollowPathRamsete, including all inherited members.

+ + + +
PathfindThenFollowPathRamsete(std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, units::unit_t< frc::RamseteController::b_unit > b, units::unit_t< frc::RamseteController::zeta_unit > zeta, ReplanningConfig replanningConfig, frc2::Requirements requirements)pathplanner::PathfindThenFollowPathRamseteinline
PathfindThenFollowPathRamsete(std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, ReplanningConfig replanningConfig, frc2::Requirements requirements)pathplanner::PathfindThenFollowPathRamseteinline
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete.html b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete.html new file mode 100644 index 00000000..58a56210 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete.html @@ -0,0 +1,299 @@ + + + + + + + +PathPlannerLib: pathplanner::PathfindThenFollowPathRamsete Class Reference + + + + + + + + + + + + + + +
+
+ + + + + + +
+
PathPlannerLib +
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+
+
+ +
+ + + + + + +

+Public Member Functions

 PathfindThenFollowPathRamsete (std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, units::unit_t< frc::RamseteController::b_unit > b, units::unit_t< frc::RamseteController::zeta_unit > zeta, ReplanningConfig replanningConfig, frc2::Requirements requirements)
 
 PathfindThenFollowPathRamsete (std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(frc::ChassisSpeeds)> robotRelativeOutput, ReplanningConfig replanningConfig, frc2::Requirements requirements)
 
+

Constructor & Destructor Documentation

+ +

◆ PathfindThenFollowPathRamsete() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathfindThenFollowPathRamsete::PathfindThenFollowPathRamsete (std::shared_ptr< PathPlannerPath > goalPath,
PathConstraints pathfindingConstraints,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> robotRelativeOutput,
units::unit_t< frc::RamseteController::b_unit > b,
units::unit_t< frc::RamseteController::zeta_unit > zeta,
ReplanningConfig replanningConfig,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Constructs a new PathfindThenFollowPathRamsete command group.

+
Parameters
+ + + + + + + + + + +
goalPaththe goal path to follow
pathfindingConstraintsthe path constraints for pathfinding
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
robotRelativeOutputa consumer for the output speeds (robot relative)
bTuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term.
zetaTuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide more damping in response.
replanningConfigPath replanning configuration
requirementsthe subsystems required by this command (drive subsystem)
+
+
+ +
+
+ +

◆ PathfindThenFollowPathRamsete() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pathplanner::PathfindThenFollowPathRamsete::PathfindThenFollowPathRamsete (std::shared_ptr< PathPlannerPath > goalPath,
PathConstraints pathfindingConstraints,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
std::function< void(frc::ChassisSpeeds)> robotRelativeOutput,
ReplanningConfig replanningConfig,
frc2::Requirements requirements 
)
+ 		+inline
+
+

Constructs a new PathfindThenFollowPathRamsete command group.

+
Parameters
+ + + + + + + + +
goalPaththe goal path to follow
pathfindingConstraintsthe path constraints for pathfinding
poseSuppliera supplier for the robot's current pose
currentRobotRelativeSpeedsa supplier for the robot's current robot relative speeds
robotRelativeOutputa consumer for the output speeds (robot relative)
replanningConfigPath replanning configuration
requirementsthe subsystems required by this command (drive subsystem)
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete.js b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete.js new file mode 100644 index 00000000..b1d47542 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete.js @@ -0,0 +1,5 @@ +var classpathplanner_1_1PathfindThenFollowPathRamsete = +[ + [ "PathfindThenFollowPathRamsete", "classpathplanner_1_1PathfindThenFollowPathRamsete.html#a6e990c923afe1f476f639642be6689d4", null ], + [ "PathfindThenFollowPathRamsete", "classpathplanner_1_1PathfindThenFollowPathRamsete.html#a82c9caeab120d204142803b4664317b1", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete.png b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete.png new file mode 100644 index 00000000..8ce1983f Binary files /dev/null and b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete.png differ diff --git a/docs/cpp/classpathplanner_1_1PathfindingCommand-members.html b/docs/cpp/classpathplanner_1_1PathfindingCommand-members.html new file mode 100644 index 00000000..669170bb --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindingCommand-members.html @@ -0,0 +1,114 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::PathfindingCommand Member List
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This is the complete list of members for pathplanner::PathfindingCommand, including all inherited members.

+ + + + + + + +
End(bool interrupted) override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
Execute() override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
Initialize() override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
IsFinished() override (defined in pathplanner::PathfindingCommand)pathplanner::PathfindingCommand
PathfindingCommand(std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)pathplanner::PathfindingCommand
PathfindingCommand(frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)pathplanner::PathfindingCommand
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindingCommand.html b/docs/cpp/classpathplanner_1_1PathfindingCommand.html new file mode 100644 index 00000000..30465ab1 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindingCommand.html @@ -0,0 +1,308 @@ + + + + + + + +PathPlannerLib: pathplanner::PathfindingCommand Class Reference + + + + + + + + + + + + + + +
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PathPlannerLib +
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pathplanner::PathfindingCommand Class Reference
+
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+Inheritance diagram for pathplanner::PathfindingCommand:
+
+
+ + +pathplanner::PathfindHolonomic +pathplanner::PathfindLTV +pathplanner::PathfindRamsete + +
+ + + + + + + + + + + + + + +

+Public Member Functions

 PathfindingCommand (std::shared_ptr< PathPlannerPath > targetPath, PathConstraints constraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)
 
 PathfindingCommand (frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(frc::ChassisSpeeds)> output, std::unique_ptr< PathFollowingController > controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)
 
+void Initialize () override
 
+void Execute () override
 
+bool IsFinished () override
 
+void End (bool interrupted) override
 
+

Constructor & Destructor Documentation

+ +

◆ PathfindingCommand() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
PathfindingCommand::PathfindingCommand (std::shared_ptr< PathPlannerPath > targetPath,
PathConstraints constraints,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
std::unique_ptr< PathFollowingController > controller,
units::meter_t rotationDelayDistance,
frc2::Requirements requirements 
)
+
+

Constructs a new base pathfinding command that will generate a path towards the given path.

+
Parameters
+ + + + + + + + + +
targetPaththe path to pathfind to
constraintsthe path constraints to use while pathfinding
poseSuppliera supplier for the robot's current pose
speedsSuppliera supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (robot relative)
controllerPath following controller that will be used to follow the path
rotationDelayDistanceHow far the robot should travel before attempting to rotate to the final rotation
requirementsthe subsystems required by this command
+
+
+ +
+
+ +

◆ PathfindingCommand() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
PathfindingCommand::PathfindingCommand (frc::Pose2d targetPose,
PathConstraints constraints,
units::meters_per_second_t goalEndVel,
std::function< frc::Pose2d()> poseSupplier,
std::function< frc::ChassisSpeeds()> speedsSupplier,
std::function< void(frc::ChassisSpeeds)> output,
std::unique_ptr< PathFollowingController > controller,
units::meter_t rotationDelayDistance,
frc2::Requirements requirements 
)
+
+

Constructs a new base pathfinding command that will generate a path towards the given pose.

+
Parameters
+ + + + + + + + + + +
targetPosethe pose to pathfind to, the rotation component is only relevant for holonomic drive trains
constraintsthe path constraints to use while pathfinding
goalEndVelThe goal end velocity when reaching the target pose
poseSuppliera supplier for the robot's current pose
speedsSuppliera supplier for the robot's current robot relative speeds
outputa consumer for the output speeds (robot relative)
controllerPath following controller that will be used to follow the path
rotationDelayDistanceHow far the robot should travel before attempting to rotate to the final rotation
requirementsthe subsystems required by this command
+
+
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1PathfindingCommand.js b/docs/cpp/classpathplanner_1_1PathfindingCommand.js new file mode 100644 index 00000000..f7ca89f6 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1PathfindingCommand.js @@ -0,0 +1,5 @@ +var classpathplanner_1_1PathfindingCommand = +[ + [ "PathfindingCommand", "classpathplanner_1_1PathfindingCommand.html#a5b2774dbe3b76c19c541baa7b64dc4ac", null ], + [ "PathfindingCommand", "classpathplanner_1_1PathfindingCommand.html#a9b15f1ce07efb33228e44d1e1078d7da", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1PathfindingCommand.png b/docs/cpp/classpathplanner_1_1PathfindingCommand.png new file mode 100644 index 00000000..034f70d8 Binary files /dev/null and b/docs/cpp/classpathplanner_1_1PathfindingCommand.png differ diff --git a/docs/cpp/classpathplanner_1_1ReplanningConfig-members.html b/docs/cpp/classpathplanner_1_1ReplanningConfig-members.html new file mode 100644 index 00000000..c3629fe6 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ReplanningConfig-members.html @@ -0,0 +1,113 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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pathplanner::ReplanningConfig Member List
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This is the complete list of members for pathplanner::ReplanningConfig, including all inherited members.

+ + + + + + +
dynamicReplanningErrorSpikeThreshold (defined in pathplanner::ReplanningConfig)pathplanner::ReplanningConfig
dynamicReplanningTotalErrorThreshold (defined in pathplanner::ReplanningConfig)pathplanner::ReplanningConfig
enableDynamicReplanning (defined in pathplanner::ReplanningConfig)pathplanner::ReplanningConfig
enableInitialReplanning (defined in pathplanner::ReplanningConfig)pathplanner::ReplanningConfig
ReplanningConfig(const bool enableInitialReplanning=true, const bool enableDynamicReplanning=false, const units::meter_t dynamicReplanningTotalErrorThreshold=1_m, const units::meter_t dynamicReplanningErrorSpikeThreshold=0.25_m)pathplanner::ReplanningConfiginline
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1ReplanningConfig.html b/docs/cpp/classpathplanner_1_1ReplanningConfig.html new file mode 100644 index 00000000..089e7c23 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ReplanningConfig.html @@ -0,0 +1,193 @@ + + + + + + + +PathPlannerLib: pathplanner::ReplanningConfig Class Reference + + + + + + + + + + + + + + +
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pathplanner::ReplanningConfig Class Reference
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+Public Member Functions

constexpr ReplanningConfig (const bool enableInitialReplanning=true, const bool enableDynamicReplanning=false, const units::meter_t dynamicReplanningTotalErrorThreshold=1_m, const units::meter_t dynamicReplanningErrorSpikeThreshold=0.25_m)
 
+ + + + + + + + + +

+Public Attributes

+const bool enableInitialReplanning
 
+const bool enableDynamicReplanning
 
+const units::meter_t dynamicReplanningTotalErrorThreshold
 
+const units::meter_t dynamicReplanningErrorSpikeThreshold
 
+

Constructor & Destructor Documentation

+ +

◆ ReplanningConfig()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
constexpr pathplanner::ReplanningConfig::ReplanningConfig (const bool enableInitialReplanning = true,
const bool enableDynamicReplanning = false,
const units::meter_t dynamicReplanningTotalErrorThreshold = 1_m,
const units::meter_t dynamicReplanningErrorSpikeThreshold = 0.25_m 
)
+ 		+inlineconstexpr
+
+

Create a path replanning configuration

+
Parameters
+ + + + + +
enableInitialReplanningShould the path be replanned at the start of path following if the robot is not already at the starting point?
enableDynamicReplanningShould the path be replanned if the error grows too large or if a large error spike happens while following the path?
dynamicReplanningTotalErrorThresholdThe total error threshold, in meters, that will cause the path to be replanned. Default = 1.0m
dynamicReplanningErrorSpikeThresholdThe error spike threshold, in meters, that will cause the path to be replanned. Default = 0.25m
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1ReplanningConfig.js b/docs/cpp/classpathplanner_1_1ReplanningConfig.js new file mode 100644 index 00000000..16fbce7a --- /dev/null +++ b/docs/cpp/classpathplanner_1_1ReplanningConfig.js @@ -0,0 +1,4 @@ +var classpathplanner_1_1ReplanningConfig = +[ + [ "ReplanningConfig", "classpathplanner_1_1ReplanningConfig.html#a5f8377d6273c244227088744922d697d", null ] +]; \ No newline at end of file diff --git a/docs/cpp/classpathplanner_1_1RotationTarget-members.html b/docs/cpp/classpathplanner_1_1RotationTarget-members.html new file mode 100644 index 00000000..c83a7177 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1RotationTarget-members.html @@ -0,0 +1,114 @@ + + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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This is the complete list of members for pathplanner::RotationTarget, including all inherited members.

+ + + + + + + +
forSegmentIndex(int segmentIndex) constpathplanner::RotationTargetinline
fromJson(const wpi::json &json)pathplanner::RotationTargetstatic
getPosition() constpathplanner::RotationTargetinline
getTarget() constpathplanner::RotationTargetinline
operator==(const RotationTarget &other) const (defined in pathplanner::RotationTarget)pathplanner::RotationTargetinline
RotationTarget(double waypointRelativePosition, frc::Rotation2d target)pathplanner::RotationTargetinline
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1RotationTarget.html b/docs/cpp/classpathplanner_1_1RotationTarget.html new file mode 100644 index 00000000..d2d93145 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1RotationTarget.html @@ -0,0 +1,303 @@ + + + + + + + +PathPlannerLib: pathplanner::RotationTarget Class Reference + + + + + + + + + + + + + + +
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+Public Member Functions

constexpr RotationTarget (double waypointRelativePosition, frc::Rotation2d target)
 
constexpr double getPosition () const
 
constexpr const frc::Rotation2d & getTarget () const
 
constexpr RotationTarget forSegmentIndex (int segmentIndex) const
 
+bool operator== (const RotationTarget &other) const
 
+ + + +

+Static Public Member Functions

static RotationTarget fromJson (const wpi::json &json)
 
+

Constructor & Destructor Documentation

+ +

◆ RotationTarget()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
constexpr pathplanner::RotationTarget::RotationTarget (double waypointRelativePosition,
frc::Rotation2d target 
)
+ 		+inlineconstexpr
+
+

Create a new rotation target

+
Parameters
+ + + +
waypointRelativePositionWaypoint relative position of this target
targetTarget rotation
+
+
+ +
+
+

Member Function Documentation

+ +

◆ forSegmentIndex()

+ +
+
+ + + + + +
+ + + + + + + + +
constexpr RotationTarget pathplanner::RotationTarget::forSegmentIndex (int segmentIndex) const
+ 		+inlineconstexpr
+
+

Transform the position of this target for a given segment number.

+

For example, a target with position 1.5 for the segment 1 will have the position 0.5

+
Parameters
+ + +
segmentIndexThe segment index to transform position for
+
+
+
Returns
The transformed target
+ +
+
+ +

◆ fromJson()

+ +
+
+ + + + + +
+ + + + + + + + +
RotationTarget RotationTarget::fromJson (const wpi::json & json)
+ 		+static
+
+

Create a rotation target from json

+
Parameters
+ + +
jsonjson reference representing a rotation target
+
+
+
Returns
Rotation target defined by the given json
+ +
+
+ +

◆ getPosition()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr double pathplanner::RotationTarget::getPosition () const
+ 		+inlineconstexpr
+
+

Get the waypoint relative position of this target

+
Returns
Waypoint relative position
+ +
+
+ +

◆ getTarget()

+ +
+
+ + + + + +
+ + + + + + + +
constexpr const frc::Rotation2d & pathplanner::RotationTarget::getTarget () const
+ 		+inlineconstexpr
+
+

Get the target rotation

+
Returns
Target rotation
+ +
+
+
The documentation for this class was generated from the following files: +
+
+ + + + diff --git a/docs/cpp/classpathplanner_1_1RotationTarget.js b/docs/cpp/classpathplanner_1_1RotationTarget.js new file mode 100644 index 00000000..71c98274 --- /dev/null +++ b/docs/cpp/classpathplanner_1_1RotationTarget.js @@ -0,0 +1,7 @@ +var classpathplanner_1_1RotationTarget = +[ + [ "RotationTarget", "classpathplanner_1_1RotationTarget.html#a724f9de278dd2031cc359b4fd7de9051", null ], + [ "forSegmentIndex", "classpathplanner_1_1RotationTarget.html#af71868d38344ce0b4ab46f7382015686", null ], + [ "getPosition", "classpathplanner_1_1RotationTarget.html#aed4869b96c97dcb69a0f6f14bf7754d5", null ], + [ "getTarget", "classpathplanner_1_1RotationTarget.html#a96eb0a2f814fea43193e4df30bb6679c", null ] +]; \ No newline at end of file diff --git a/docs/cpp/closed.png b/docs/cpp/closed.png new file mode 100644 index 00000000..98cc2c90 Binary files /dev/null and b/docs/cpp/closed.png differ diff --git a/docs/cpp/dir_01a354f897409c7725242d1f10f7fb84.html b/docs/cpp/dir_01a354f897409c7725242d1f10f7fb84.html new file mode 100644 index 00000000..75c41ad6 --- /dev/null +++ b/docs/cpp/dir_01a354f897409c7725242d1f10f7fb84.html @@ -0,0 +1,118 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/controllers Directory Reference + + + + + + + + + + + + + + +
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+Files

file  PathFollowingController.h [code]
 
file  PPHolonomicDriveController.h [code]
 
file  PPLTVController.h [code]
 
file  PPRamseteController.h [code]
 
+
+
+ + + + diff --git a/docs/cpp/dir_01a354f897409c7725242d1f10f7fb84.js b/docs/cpp/dir_01a354f897409c7725242d1f10f7fb84.js new file mode 100644 index 00000000..e1e76da1 --- /dev/null +++ b/docs/cpp/dir_01a354f897409c7725242d1f10f7fb84.js @@ -0,0 +1,7 @@ +var dir_01a354f897409c7725242d1f10f7fb84 = +[ + [ "PathFollowingController.h", "PathFollowingController_8h_source.html", null ], + [ "PPHolonomicDriveController.h", "PPHolonomicDriveController_8h_source.html", null ], + [ "PPLTVController.h", "PPLTVController_8h_source.html", null ], + [ "PPRamseteController.h", "PPRamseteController_8h_source.html", null ] +]; \ No newline at end of file diff --git a/docs/cpp/dir_031296ca7f998269a5e24c7d71fdcf0c.html b/docs/cpp/dir_031296ca7f998269a5e24c7d71fdcf0c.html new file mode 100644 index 00000000..8eff5487 --- /dev/null +++ b/docs/cpp/dir_031296ca7f998269a5e24c7d71fdcf0c.html @@ -0,0 +1,136 @@ + + + + + + + +PathPlannerLib: src/main/native/include/pathplanner/lib/commands Directory Reference + + + + + + + + + + + + + + +
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+Files

file  FollowPathCommand.h [code]
 
file  FollowPathHolonomic.h [code]
 
file  FollowPathLTV.h [code]
 
file  FollowPathRamsete.h [code]
 
file  FollowPathWithEvents.h [code]
 
file  PathfindHolonomic.h [code]
 
file  PathfindingCommand.h [code]
 
file  PathfindLTV.h [code]
 
file  PathfindRamsete.h [code]
 
file  PathfindThenFollowPathHolonomic.h [code]
 
file  PathfindThenFollowPathLTV.h [code]
 
file  PathfindThenFollowPathRamsete.h [code]
 
file  PathPlannerAuto.h [code]
 
+
+
+ + + + diff --git a/docs/cpp/dir_031296ca7f998269a5e24c7d71fdcf0c.js b/docs/cpp/dir_031296ca7f998269a5e24c7d71fdcf0c.js new file mode 100644 index 00000000..aef78e16 --- /dev/null +++ b/docs/cpp/dir_031296ca7f998269a5e24c7d71fdcf0c.js @@ -0,0 +1,16 @@ +var dir_031296ca7f998269a5e24c7d71fdcf0c = +[ + [ "FollowPathCommand.h", "FollowPathCommand_8h_source.html", null ], + [ "FollowPathHolonomic.h", "FollowPathHolonomic_8h_source.html", null ], + [ "FollowPathLTV.h", "FollowPathLTV_8h_source.html", null ], + [ "FollowPathRamsete.h", "FollowPathRamsete_8h_source.html", null ], + [ "FollowPathWithEvents.h", "FollowPathWithEvents_8h_source.html", null ], + [ "PathfindHolonomic.h", "PathfindHolonomic_8h_source.html", null ], + [ "PathfindingCommand.h", "PathfindingCommand_8h_source.html", null ], + [ "PathfindLTV.h", "PathfindLTV_8h_source.html", null ], + [ "PathfindRamsete.h", "PathfindRamsete_8h_source.html", null ], + [ "PathfindThenFollowPathHolonomic.h", "PathfindThenFollowPathHolonomic_8h_source.html", null ], + [ "PathfindThenFollowPathLTV.h", "PathfindThenFollowPathLTV_8h_source.html", null ], + [ "PathfindThenFollowPathRamsete.h", "PathfindThenFollowPathRamsete_8h_source.html", null ], + [ "PathPlannerAuto.h", "PathPlannerAuto_8h_source.html", null ] +]; \ No newline at end of file diff --git a/docs/cpp/dir_05d182bc63602caf1f04fb9dce1ef959.html b/docs/cpp/dir_05d182bc63602caf1f04fb9dce1ef959.html new file mode 100644 index 00000000..f7da3ebd --- /dev/null +++ b/docs/cpp/dir_05d182bc63602caf1f04fb9dce1ef959.html @@ -0,0 +1,106 @@ + + + + + + + +PathPlannerLib: src/main/native/cpp/pathplanner Directory Reference + + + + + + + + + + + + + + +
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file  ChassisSpeedsRateLimiter.h [code]
 
file  GeometryUtil.h [code]
 
file  HolonomicPathFollowerConfig.h [code]
 
file  PathPlannerLogging.h [code]
 
file  PIDConstants.h [code]
 
file  PPLibTelemetry.h [code]
 
file  ReplanningConfig.h [code]
 
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directory  path
 
directory  pathfinding
 
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file  ConstraintsZone.h [code]
 
file  EventMarker.h [code]
 
file  GoalEndState.h [code]
 
file  PathConstraints.h [code]
 
file  PathPlannerPath.h [code]
 
file  PathPlannerTrajectory.h [code]
 
file  PathPoint.h [code]
 
file  PathSegment.h [code]
 
file  RotationTarget.h [code]
 
+
+
+ + + + diff --git a/docs/cpp/dir_a716bf125c45ee20a6ca002744f4da0b.js b/docs/cpp/dir_a716bf125c45ee20a6ca002744f4da0b.js new file mode 100644 index 00000000..2f07d84c --- /dev/null +++ b/docs/cpp/dir_a716bf125c45ee20a6ca002744f4da0b.js @@ -0,0 +1,12 @@ +var dir_a716bf125c45ee20a6ca002744f4da0b = +[ + [ "ConstraintsZone.h", "ConstraintsZone_8h_source.html", null ], + [ "EventMarker.h", "EventMarker_8h_source.html", null ], + [ "GoalEndState.h", "GoalEndState_8h_source.html", null ], + [ "PathConstraints.h", "PathConstraints_8h_source.html", null ], + [ "PathPlannerPath.h", "PathPlannerPath_8h_source.html", null ], + [ "PathPlannerTrajectory.h", "PathPlannerTrajectory_8h_source.html", null ], + [ "PathPoint.h", "PathPoint_8h_source.html", null ], + [ "PathSegment.h", "PathSegment_8h_source.html", null ], + [ "RotationTarget.h", "RotationTarget_8h_source.html", null ] +]; \ No newline at end of file diff --git a/docs/cpp/dir_b09f3849ec87f7f01357d2c1b28ddfb1.html b/docs/cpp/dir_b09f3849ec87f7f01357d2c1b28ddfb1.html new file mode 100644 index 00000000..d27822ac --- /dev/null +++ b/docs/cpp/dir_b09f3849ec87f7f01357d2c1b28ddfb1.html @@ -0,0 +1,106 @@ + + + + + + + +PathPlannerLib: src/main/native Directory Reference + + + + + + + + + + + + + + +
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file  AutoBuilder.h [code]
 
file  CommandUtil.h [code]
 
file  NamedCommands.h [code]
 
+
+
+ + + + diff --git a/docs/cpp/dir_c2a4c57c2fee12ede795dfa3b4f6ba03.js b/docs/cpp/dir_c2a4c57c2fee12ede795dfa3b4f6ba03.js new file mode 100644 index 00000000..ed6fc296 --- /dev/null +++ b/docs/cpp/dir_c2a4c57c2fee12ede795dfa3b4f6ba03.js @@ -0,0 +1,6 @@ +var dir_c2a4c57c2fee12ede795dfa3b4f6ba03 = +[ + [ "AutoBuilder.h", "AutoBuilder_8h_source.html", null ], + [ "CommandUtil.h", "CommandUtil_8h_source.html", null ], + [ "NamedCommands.h", "NamedCommands_8h_source.html", null ] +]; \ No newline at end of file diff --git a/docs/cpp/dir_d0b7457df57beac4fb029d7d8d8b29e1.html b/docs/cpp/dir_d0b7457df57beac4fb029d7d8d8b29e1.html new file mode 100644 index 00000000..6321e6b2 --- /dev/null +++ b/docs/cpp/dir_d0b7457df57beac4fb029d7d8d8b29e1.html @@ -0,0 +1,106 @@ + + + + + + + +PathPlannerLib: src/main/native/cpp/pathplanner/lib/path Directory Reference + + + + + + + + + + + + + + +
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pathfinding Directory Reference
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auto Directory Reference
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+ + + + diff --git a/docs/cpp/doc.png b/docs/cpp/doc.png new file mode 100644 index 00000000..17edabff Binary files /dev/null and b/docs/cpp/doc.png differ diff --git a/docs/cpp/docd.png b/docs/cpp/docd.png new file mode 100644 index 00000000..d7c94fda Binary files /dev/null and b/docs/cpp/docd.png differ diff --git a/docs/cpp/doxygen-awesome.css b/docs/cpp/doxygen-awesome.css new file mode 100644 index 00000000..08238977 --- /dev/null +++ b/docs/cpp/doxygen-awesome.css @@ -0,0 +1,2530 @@ +/** + +Doxygen Awesome +https://github.com/jothepro/doxygen-awesome-css + +MIT License + +Copyright (c) 2021 - 2023 jothepro + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + +*/ + +html { + /* primary theme color. This will affect the entire websites color scheme: links, arrows, labels, ... */ + --primary-color: #1779c4; + --primary-dark-color: #335c80; + --primary-light-color: #70b1e9; + + /* page base colors */ + --page-background-color: #ffffff; + --page-foreground-color: #2f4153; + --page-secondary-foreground-color: #6f7e8e; + + /* color for all separators on the website: hr, borders, ... */ + --separator-color: #dedede; + + /* border radius for all rounded components. Will affect many components, like dropdowns, memitems, codeblocks, ... */ + --border-radius-large: 8px; + --border-radius-small: 4px; + --border-radius-medium: 6px; + + /* default spacings. Most components reference these values for spacing, to provide uniform spacing on the page. */ + --spacing-small: 5px; + --spacing-medium: 10px; + --spacing-large: 16px; + + /* default box shadow used for raising an element above the normal content. Used in dropdowns, search result, ... */ + --box-shadow: 0 2px 8px 0 rgba(0,0,0,.075); + + --odd-color: rgba(0,0,0,.028); + + /* font-families. will affect all text on the website + * font-family: the normal font for text, headlines, menus + * font-family-monospace: used for preformatted text in memtitle, code, fragments + */ + --font-family: -apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen,Ubuntu,Cantarell,Fira Sans,Droid Sans,Helvetica Neue,sans-serif; + --font-family-monospace: ui-monospace,SFMono-Regular,SF Mono,Menlo,Consolas,Liberation Mono,monospace; + + /* font sizes */ + --page-font-size: 15.6px; + --navigation-font-size: 14.4px; + --toc-font-size: 13.4px; + --code-font-size: 14px; /* affects code, fragment */ + --title-font-size: 22px; + + /* content text properties. These only affect the page content, not the navigation or any other ui elements */ + --content-line-height: 27px; + /* The content is centered and constraint in it's width. To make the content fill the whole page, set the variable to auto.*/ + --content-maxwidth: 1050px; + --table-line-height: 24px; + --toc-sticky-top: var(--spacing-medium); + --toc-width: 200px; + --toc-max-height: calc(100vh - 2 * var(--spacing-medium) - 85px); + + /* colors for various content boxes: @warning, @note, @deprecated @bug */ + --warning-color: #f8d1cc; + --warning-color-dark: #b61825; + --warning-color-darker: #75070f; + --note-color: #faf3d8; + --note-color-dark: #f3a600; + --note-color-darker: #5f4204; + --todo-color: #e4f3ff; + --todo-color-dark: #1879C4; + --todo-color-darker: #274a5c; + --deprecated-color: #ecf0f3; + --deprecated-color-dark: #5b6269; + --deprecated-color-darker: #43454a; + --bug-color: #e4dafd; + --bug-color-dark: #5b2bdd; + --bug-color-darker: #2a0d72; + --invariant-color: #d8f1e3; + --invariant-color-dark: #44b86f; + --invariant-color-darker: #265532; + + /* blockquote colors */ + --blockquote-background: #f8f9fa; + --blockquote-foreground: #636568; + + /* table colors */ + --tablehead-background: #f1f1f1; + --tablehead-foreground: var(--page-foreground-color); + + /* menu-display: block | none + * Visibility of the top navigation on screens >= 768px. On smaller screen the menu is always visible. + * `GENERATE_TREEVIEW` MUST be enabled! + */ + --menu-display: block; + + --menu-focus-foreground: var(--page-background-color); + --menu-focus-background: var(--primary-color); + --menu-selected-background: rgba(0,0,0,.05); + + + --header-background: var(--page-background-color); + --header-foreground: var(--page-foreground-color); + + /* searchbar colors */ + --searchbar-background: var(--side-nav-background); + --searchbar-foreground: var(--page-foreground-color); + + /* searchbar size + * (`searchbar-width` is only applied on screens >= 768px. + * on smaller screens the searchbar will always fill the entire screen width) */ + --searchbar-height: 33px; + --searchbar-width: 210px; + --searchbar-border-radius: var(--searchbar-height); + + /* code block colors */ + --code-background: #f5f5f5; + --code-foreground: var(--page-foreground-color); + + /* fragment colors */ + --fragment-background: #F8F9FA; + --fragment-foreground: #37474F; + --fragment-keyword: #bb6bb2; + --fragment-keywordtype: #8258b3; + --fragment-keywordflow: #d67c3b; + --fragment-token: #438a59; + --fragment-comment: #969696; + --fragment-link: #5383d6; + --fragment-preprocessor: #46aaa5; + --fragment-linenumber-color: #797979; + --fragment-linenumber-background: #f4f4f5; + --fragment-linenumber-border: #e3e5e7; + --fragment-lineheight: 20px; + + /* sidebar navigation (treeview) colors */ + --side-nav-background: #fbfbfb; + --side-nav-foreground: var(--page-foreground-color); + --side-nav-arrow-opacity: 0; + --side-nav-arrow-hover-opacity: 0.9; + + --toc-background: var(--side-nav-background); + --toc-foreground: var(--side-nav-foreground); + + /* height of an item in any tree / collapsible table */ + --tree-item-height: 30px; + + --memname-font-size: var(--code-font-size); + --memtitle-font-size: 18px; + + --webkit-scrollbar-size: 7px; + --webkit-scrollbar-padding: 4px; + --webkit-scrollbar-color: var(--separator-color); +} + +@media screen and (max-width: 767px) { + html { + --page-font-size: 16px; + --navigation-font-size: 16px; + --toc-font-size: 15px; + --code-font-size: 15px; /* affects code, fragment */ + --title-font-size: 22px; + } +} + +@media (prefers-color-scheme: dark) { + html:not(.light-mode) { + color-scheme: dark; + + --primary-color: #1982d2; + --primary-dark-color: #86a9c4; + --primary-light-color: #4779ac; + + --box-shadow: 0 2px 8px 0 rgba(0,0,0,.35); + + --odd-color: rgba(100,100,100,.06); + + --menu-selected-background: rgba(0,0,0,.4); + + --page-background-color: #1C1D1F; + --page-foreground-color: #d2dbde; + --page-secondary-foreground-color: #859399; + --separator-color: #38393b; + --side-nav-background: #252628; + + --code-background: #2a2c2f; + + --tablehead-background: #2a2c2f; + + --blockquote-background: #222325; + --blockquote-foreground: #7e8c92; + + --warning-color: #2e1917; + --warning-color-dark: #ad2617; + --warning-color-darker: #f5b1aa; + --note-color: #3b2e04; + --note-color-dark: #f1b602; + --note-color-darker: #ceb670; + --todo-color: #163750; + --todo-color-dark: #1982D2; + --todo-color-darker: #dcf0fa; + --deprecated-color: #2e323b; + --deprecated-color-dark: #738396; + --deprecated-color-darker: #abb0bd; + --bug-color: #2a2536; + --bug-color-dark: #7661b3; + --bug-color-darker: #ae9ed6; + --invariant-color: #303a35; + --invariant-color-dark: #76ce96; + --invariant-color-darker: #cceed5; + + --fragment-background: #282c34; + --fragment-foreground: #dbe4eb; + --fragment-keyword: #cc99cd; + --fragment-keywordtype: #ab99cd; + --fragment-keywordflow: #e08000; + --fragment-token: #7ec699; + --fragment-comment: #999999; + --fragment-link: #98c0e3; + --fragment-preprocessor: #65cabe; + --fragment-linenumber-color: #cccccc; + --fragment-linenumber-background: #35393c; + --fragment-linenumber-border: #1f1f1f; + } +} + +/* dark mode variables are defined twice, to support both the dark-mode without and with doxygen-awesome-darkmode-toggle.js */ +html.dark-mode { + color-scheme: dark; + + --primary-color: #1982d2; + --primary-dark-color: #86a9c4; + --primary-light-color: #4779ac; + + --box-shadow: 0 2px 8px 0 rgba(0,0,0,.30); + + --odd-color: rgba(100,100,100,.06); + + --menu-selected-background: rgba(0,0,0,.4); + + --page-background-color: #1C1D1F; + --page-foreground-color: #d2dbde; + --page-secondary-foreground-color: #859399; + --separator-color: #38393b; + --side-nav-background: #252628; + + --code-background: #2a2c2f; + + --tablehead-background: #2a2c2f; + + --blockquote-background: #222325; + --blockquote-foreground: #7e8c92; + + --warning-color: #2e1917; + --warning-color-dark: #ad2617; + --warning-color-darker: #f5b1aa; + --note-color: #3b2e04; + --note-color-dark: #f1b602; + --note-color-darker: #ceb670; + --todo-color: #163750; + --todo-color-dark: #1982D2; + --todo-color-darker: #dcf0fa; + --deprecated-color: #2e323b; + --deprecated-color-dark: #738396; + --deprecated-color-darker: #abb0bd; + --bug-color: #2a2536; + --bug-color-dark: #7661b3; + --bug-color-darker: #ae9ed6; + --invariant-color: #303a35; + --invariant-color-dark: #76ce96; + --invariant-color-darker: #cceed5; + + --fragment-background: #282c34; + --fragment-foreground: #dbe4eb; + --fragment-keyword: #cc99cd; + --fragment-keywordtype: #ab99cd; + --fragment-keywordflow: #e08000; + --fragment-token: #7ec699; + --fragment-comment: #999999; + --fragment-link: #98c0e3; + --fragment-preprocessor: #65cabe; + --fragment-linenumber-color: #cccccc; + --fragment-linenumber-background: #35393c; + --fragment-linenumber-border: #1f1f1f; +} + +body { + color: var(--page-foreground-color); + background-color: var(--page-background-color); + font-size: var(--page-font-size); +} + +body, table, div, p, dl, #nav-tree .label, .title, +.sm-dox a, .sm-dox a:hover, .sm-dox a:focus, #projectname, +.SelectItem, #MSearchField, .navpath li.navelem a, +.navpath li.navelem a:hover, p.reference, p.definition { + font-family: var(--font-family); +} + +h1, h2, h3, h4, h5 { + margin-top: .9em; + font-weight: 600; + line-height: initial; +} + +p, div, table, dl, p.reference, p.definition { + font-size: var(--page-font-size); +} + +p.reference, p.definition { + color: var(--page-secondary-foreground-color); +} + +a:link, a:visited, a:hover, a:focus, a:active { + color: var(--primary-color) !important; + font-weight: 500; +} + +a.anchor { + scroll-margin-top: var(--spacing-large); + display: block; +} + +/* + Title and top navigation + */ + +#top { + background: var(--header-background); + border-bottom: 1px solid var(--separator-color); +} + +@media screen and (min-width: 768px) { + #top { + display: flex; + flex-wrap: wrap; + justify-content: space-between; + align-items: center; + } +} + +#main-nav { + flex-grow: 5; + padding: var(--spacing-small) var(--spacing-medium); +} + +#titlearea { + width: auto; + padding: var(--spacing-medium) var(--spacing-large); + background: none; + color: var(--header-foreground); + border-bottom: none; +} + +@media screen and (max-width: 767px) { + #titlearea { + padding-bottom: var(--spacing-small); + } +} + +#titlearea table tbody tr { + height: auto !important; +} + +#projectname { + font-size: var(--title-font-size); + font-weight: 600; +} + +#projectnumber { + font-family: inherit; + font-size: 60%; +} + +#projectbrief { + font-family: inherit; + font-size: 80%; +} + +#projectlogo { + vertical-align: middle; +} + +#projectlogo img { + max-height: calc(var(--title-font-size) * 2); + margin-right: var(--spacing-small); +} + +.sm-dox, .tabs, .tabs2, .tabs3 { + background: none; + padding: 0; +} + +.tabs, .tabs2, .tabs3 { + border-bottom: 1px solid var(--separator-color); + margin-bottom: -1px; +} + +.main-menu-btn-icon, .main-menu-btn-icon:before, .main-menu-btn-icon:after { + background: var(--page-secondary-foreground-color); +} + +@media screen and (max-width: 767px) { + .sm-dox a span.sub-arrow { + background: var(--code-background); + } + + #main-menu a.has-submenu span.sub-arrow { + color: var(--page-secondary-foreground-color); + border-radius: var(--border-radius-medium); + } + + #main-menu a.has-submenu:hover span.sub-arrow { + color: var(--page-foreground-color); + } +} + +@media screen and (min-width: 768px) { + .sm-dox li, .tablist li { + display: var(--menu-display); + } + + .sm-dox a span.sub-arrow { + border-color: var(--header-foreground) transparent transparent transparent; + } + + .sm-dox a:hover span.sub-arrow { + border-color: var(--menu-focus-foreground) transparent transparent transparent; + } + + .sm-dox ul a span.sub-arrow { + border-color: transparent transparent transparent var(--page-foreground-color); + } + + .sm-dox ul a:hover span.sub-arrow { + border-color: transparent transparent transparent var(--menu-focus-foreground); + } +} + +.sm-dox ul { + background: var(--page-background-color); + box-shadow: var(--box-shadow); + border: 1px solid var(--separator-color); + border-radius: var(--border-radius-medium) !important; + padding: var(--spacing-small); + animation: ease-out 150ms slideInMenu; +} + +@keyframes slideInMenu { + from { + opacity: 0; + transform: translate(0px, -2px); + } + + to { + opacity: 1; + transform: translate(0px, 0px); + } +} + +.sm-dox ul a { + color: var(--page-foreground-color) !important; + background: var(--page-background-color); + font-size: var(--navigation-font-size); +} + +.sm-dox>li>ul:after { + border-bottom-color: var(--page-background-color) !important; +} + +.sm-dox>li>ul:before { + border-bottom-color: var(--separator-color) !important; +} + +.sm-dox ul a:hover, .sm-dox ul a:active, .sm-dox ul a:focus { + font-size: var(--navigation-font-size) !important; + color: var(--menu-focus-foreground) !important; + text-shadow: none; + background-color: var(--menu-focus-background); + border-radius: var(--border-radius-small) !important; +} + +.sm-dox a, .sm-dox a:focus, .tablist li, .tablist li a, .tablist li.current a { + text-shadow: none; + background: transparent; + background-image: none !important; + color: var(--header-foreground) !important; + font-weight: normal; + font-size: var(--navigation-font-size); + border-radius: var(--border-radius-small) !important; +} + +.sm-dox a:focus { + outline: auto; +} + +.sm-dox a:hover, .sm-dox a:active, .tablist li a:hover { + text-shadow: none; + font-weight: normal; + background: var(--menu-focus-background); + color: var(--menu-focus-foreground) !important; + border-radius: var(--border-radius-small) !important; + font-size: var(--navigation-font-size); +} + +.tablist li.current { + border-radius: var(--border-radius-small); + background: var(--menu-selected-background); +} + +.tablist li { + margin: var(--spacing-small) 0 var(--spacing-small) var(--spacing-small); +} + +.tablist a { + padding: 0 var(--spacing-large); +} + + +/* + Search box + */ + +#MSearchBox { + height: var(--searchbar-height); + background: var(--searchbar-background); + border-radius: var(--searchbar-border-radius); + border: 1px solid var(--separator-color); + overflow: hidden; + width: var(--searchbar-width); + position: relative; + box-shadow: none; + display: block; + margin-top: 0; +} + +/* until Doxygen 1.9.4 */ +.left img#MSearchSelect { + left: 0; + user-select: none; + padding-left: 8px; +} + +/* Doxygen 1.9.5 */ +.left span#MSearchSelect { + left: 0; + user-select: none; + margin-left: 8px; + padding: 0; +} + +.left #MSearchSelect[src$=".png"] { + padding-left: 0 +} + +.SelectionMark { + user-select: none; +} + +.tabs .left #MSearchSelect { + padding-left: 0; +} + +.tabs #MSearchBox { + position: absolute; + right: var(--spacing-medium); +} + +@media screen and (max-width: 767px) { + .tabs #MSearchBox { + position: relative; + right: 0; + margin-left: var(--spacing-medium); + margin-top: 0; + } +} + +#MSearchSelectWindow, #MSearchResultsWindow { + z-index: 9999; +} + +#MSearchBox.MSearchBoxActive { + border-color: var(--primary-color); + box-shadow: inset 0 0 0 1px var(--primary-color); +} + +#main-menu > li:last-child { + margin-right: 0; +} + +@media screen and (max-width: 767px) { + #main-menu > li:last-child { + height: 50px; + } +} + +#MSearchField { + font-size: var(--navigation-font-size); + height: calc(var(--searchbar-height) - 2px); + background: transparent; + width: calc(var(--searchbar-width) - 64px); +} + +.MSearchBoxActive #MSearchField { + color: var(--searchbar-foreground); +} + +#MSearchSelect { + top: calc(calc(var(--searchbar-height) / 2) - 11px); +} + +#MSearchBox span.left, #MSearchBox span.right { + background: none; + background-image: none; +} + +#MSearchBox span.right { + padding-top: calc(calc(var(--searchbar-height) / 2) - 12px); + position: absolute; + right: var(--spacing-small); +} + +.tabs #MSearchBox span.right { + top: calc(calc(var(--searchbar-height) / 2) - 12px); +} + +@keyframes slideInSearchResults { + from { + opacity: 0; + transform: translate(0, 15px); + } + + to { + opacity: 1; + transform: translate(0, 20px); + } +} + +#MSearchResultsWindow { + left: auto !important; + right: var(--spacing-medium); + border-radius: var(--border-radius-large); + border: 1px solid var(--separator-color); + transform: translate(0, 20px); + box-shadow: var(--box-shadow); + animation: ease-out 280ms slideInSearchResults; + background: var(--page-background-color); +} + +iframe#MSearchResults { + margin: 4px; +} + +iframe { + color-scheme: normal; +} + +@media (prefers-color-scheme: dark) { + html:not(.light-mode) iframe#MSearchResults { + filter: invert() hue-rotate(180deg); + } +} + +html.dark-mode iframe#MSearchResults { + filter: invert() hue-rotate(180deg); +} + +#MSearchResults .SRPage { + background-color: transparent; +} + +#MSearchResults .SRPage .SREntry { + font-size: 10pt; + padding: var(--spacing-small) var(--spacing-medium); +} + +#MSearchSelectWindow { + border: 1px solid var(--separator-color); + border-radius: var(--border-radius-medium); + box-shadow: var(--box-shadow); + background: var(--page-background-color); + padding-top: var(--spacing-small); + padding-bottom: var(--spacing-small); +} + +#MSearchSelectWindow a.SelectItem { + font-size: var(--navigation-font-size); + line-height: var(--content-line-height); + margin: 0 var(--spacing-small); + border-radius: var(--border-radius-small); + color: var(--page-foreground-color) !important; + font-weight: normal; +} + +#MSearchSelectWindow a.SelectItem:hover { + background: var(--menu-focus-background); + color: var(--menu-focus-foreground) !important; +} + +@media screen and (max-width: 767px) { + #MSearchBox { + margin-top: var(--spacing-medium); + margin-bottom: var(--spacing-medium); + width: calc(100vw - 30px); + } + + #main-menu > li:last-child { + float: none !important; + } + + #MSearchField { + width: calc(100vw - 110px); + } + + @keyframes slideInSearchResultsMobile { + from { + opacity: 0; + transform: translate(0, 15px); + } + + to { + opacity: 1; + transform: translate(0, 20px); + } + } + + #MSearchResultsWindow { + left: var(--spacing-medium) !important; + right: var(--spacing-medium); + overflow: auto; + transform: translate(0, 20px); + animation: ease-out 280ms slideInSearchResultsMobile; + width: auto !important; + } + + /* + * Overwrites for fixing the searchbox on mobile in doxygen 1.9.2 + */ + label.main-menu-btn ~ #searchBoxPos1 { + top: 3px !important; + right: 6px !important; + left: 45px; + display: flex; + } + + label.main-menu-btn ~ #searchBoxPos1 > #MSearchBox { + margin-top: 0; + margin-bottom: 0; + flex-grow: 2; + float: left; + } +} + +/* + Tree view + */ + +#side-nav { + padding: 0 !important; + background: var(--side-nav-background); + min-width: 8px; + max-width: 50vw; +} + +@media screen and (max-width: 767px) { + #side-nav { + display: none; + } + + #doc-content { + margin-left: 0 !important; + } +} + +#nav-tree { + background: transparent; + margin-right: 1px; +} + +#nav-tree .label { + font-size: var(--navigation-font-size); +} + +#nav-tree .item { + height: var(--tree-item-height); + line-height: var(--tree-item-height); +} + +#nav-sync { + bottom: 12px; + right: 12px; + top: auto !important; + user-select: none; +} + +#nav-tree .selected { + text-shadow: none; + background-image: none; + background-color: transparent; + position: relative; +} + +#nav-tree .selected::after { + content: ""; + position: absolute; + top: 1px; + bottom: 1px; + left: 0; + width: 4px; + border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0; + background: var(--primary-color); +} + + +#nav-tree a { + color: var(--side-nav-foreground) !important; + font-weight: normal; +} + +#nav-tree a:focus { + outline-style: auto; +} + +#nav-tree .arrow { + opacity: var(--side-nav-arrow-opacity); +} + +.arrow { + color: inherit; + cursor: pointer; + font-size: 45%; + vertical-align: middle; + margin-right: 2px; + font-family: serif; + height: auto; + text-align: right; +} + +#nav-tree div.item:hover .arrow, #nav-tree a:focus .arrow { + opacity: var(--side-nav-arrow-hover-opacity); +} + +#nav-tree .selected a { + color: var(--primary-color) !important; + font-weight: bolder; + font-weight: 600; +} + +.ui-resizable-e { + width: 4px; + background: transparent; + box-shadow: inset -1px 0 0 0 var(--separator-color); +} + +/* + Contents + */ + +div.header { + border-bottom: 1px solid var(--separator-color); + background-color: var(--page-background-color); + background-image: none; +} + +@media screen and (min-width: 1000px) { + #doc-content > div > div.contents, + .PageDoc > div.contents { + display: flex; + flex-direction: row-reverse; + flex-wrap: nowrap; + align-items: flex-start; + } + + div.contents .textblock { + min-width: 200px; + flex-grow: 1; + } +} + +div.contents, div.header .title, div.header .summary { + max-width: var(--content-maxwidth); +} + +div.contents, div.header .title { + line-height: initial; + margin: calc(var(--spacing-medium) + .2em) auto var(--spacing-medium) auto; +} + +div.header .summary { + margin: var(--spacing-medium) auto 0 auto; +} + +div.headertitle { + padding: 0; +} + +div.header .title { + font-weight: 600; + font-size: 225%; + padding: var(--spacing-medium) var(--spacing-large); + word-break: break-word; +} + +div.header .summary { + width: auto; + display: block; + float: none; + padding: 0 var(--spacing-large); +} + +td.memSeparator { + border-color: var(--separator-color); +} + +span.mlabel { + background: var(--primary-color); + border: none; + padding: 4px 9px; + border-radius: 12px; + margin-right: var(--spacing-medium); +} + +span.mlabel:last-of-type { + margin-right: 2px; +} + +div.contents { + padding: 0 var(--spacing-large); +} + +div.contents p, div.contents li { + line-height: var(--content-line-height); +} + +div.contents div.dyncontent { + margin: var(--spacing-medium) 0; +} + +@media (prefers-color-scheme: dark) { + html:not(.light-mode) div.contents div.dyncontent img, + html:not(.light-mode) div.contents center img, + html:not(.light-mode) div.contents > table img, + html:not(.light-mode) div.contents div.dyncontent iframe, + html:not(.light-mode) div.contents center iframe, + html:not(.light-mode) div.contents table iframe, + html:not(.light-mode) div.contents .dotgraph iframe { + filter: brightness(89%) hue-rotate(180deg) invert(); + } +} + +html.dark-mode div.contents div.dyncontent img, +html.dark-mode div.contents center img, +html.dark-mode div.contents > table img, +html.dark-mode div.contents div.dyncontent iframe, +html.dark-mode div.contents center iframe, +html.dark-mode div.contents table iframe, +html.dark-mode div.contents .dotgraph iframe + { + filter: brightness(89%) hue-rotate(180deg) invert(); +} + +h2.groupheader { + border-bottom: 0px; + color: var(--page-foreground-color); + box-shadow: + 100px 0 var(--page-background-color), + -100px 0 var(--page-background-color), + 100px 0.75px var(--separator-color), + -100px 0.75px var(--separator-color), + 500px 0 var(--page-background-color), + -500px 0 var(--page-background-color), + 500px 0.75px var(--separator-color), + -500px 0.75px var(--separator-color), + 900px 0 var(--page-background-color), + -900px 0 var(--page-background-color), + 900px 0.75px var(--separator-color), + -900px 0.75px var(--separator-color), + 1400px 0 var(--page-background-color), + -1400px 0 var(--page-background-color), + 1400px 0.75px var(--separator-color), + -1400px 0.75px var(--separator-color), + 1900px 0 var(--page-background-color), + -1900px 0 var(--page-background-color), + 1900px 0.75px var(--separator-color), + -1900px 0.75px var(--separator-color); +} + +blockquote { + margin: 0 var(--spacing-medium) 0 var(--spacing-medium); + padding: var(--spacing-small) var(--spacing-large); + background: var(--blockquote-background); + color: var(--blockquote-foreground); + border-left: 0; + overflow: visible; + border-radius: var(--border-radius-medium); + overflow: visible; + position: relative; +} + +blockquote::before, blockquote::after { + font-weight: bold; + font-family: serif; + font-size: 360%; + opacity: .15; + position: absolute; +} + +blockquote::before { + content: "“"; + left: -10px; + top: 4px; +} + +blockquote::after { + content: "”"; + right: -8px; + bottom: -25px; +} + +blockquote p { + margin: var(--spacing-small) 0 var(--spacing-medium) 0; +} +.paramname { + font-weight: 600; + color: var(--primary-dark-color); +} + +.paramname > code { + border: 0; +} + +table.params .paramname { + font-weight: 600; + font-family: var(--font-family-monospace); + font-size: var(--code-font-size); + padding-right: var(--spacing-small); + line-height: var(--table-line-height); +} + +h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow { + text-shadow: 0 0 15px var(--primary-light-color); +} + +.alphachar a { + color: var(--page-foreground-color); +} + +.dotgraph { + max-width: 100%; + overflow-x: scroll; +} + +.dotgraph .caption { + position: sticky; + left: 0; +} + +/* Wrap Graphviz graphs with the `interactive_dotgraph` class if `INTERACTIVE_SVG = YES` */ +.interactive_dotgraph .dotgraph iframe { + max-width: 100%; +} + +/* + Table of Contents + */ + +div.contents .toc { + max-height: var(--toc-max-height); + min-width: var(--toc-width); + border: 0; + border-left: 1px solid var(--separator-color); + border-radius: 0; + background-color: transparent; + box-shadow: none; + position: sticky; + top: var(--toc-sticky-top); + padding: 0 var(--spacing-large); + margin: var(--spacing-small) 0 var(--spacing-large) var(--spacing-large); +} + +div.toc h3 { + color: var(--toc-foreground); + font-size: var(--navigation-font-size); + margin: var(--spacing-large) 0 var(--spacing-medium) 0; +} + +div.toc li { + padding: 0; + background: none; + line-height: var(--toc-font-size); + margin: var(--toc-font-size) 0 0 0; +} + +div.toc li::before { + display: none; +} + +div.toc ul { + margin-top: 0 +} + +div.toc li a { + font-size: var(--toc-font-size); + color: var(--page-foreground-color) !important; + text-decoration: none; +} + +div.toc li a:hover, div.toc li a.active { + color: var(--primary-color) !important; +} + +div.toc li a.aboveActive { + color: var(--page-secondary-foreground-color) !important; +} + + +@media screen and (max-width: 999px) { + div.contents .toc { + max-height: 45vh; + float: none; + width: auto; + margin: 0 0 var(--spacing-medium) 0; + position: relative; + top: 0; + position: relative; + border: 1px solid var(--separator-color); + border-radius: var(--border-radius-medium); + background-color: var(--toc-background); + box-shadow: var(--box-shadow); + } + + div.contents .toc.interactive { + max-height: calc(var(--navigation-font-size) + 2 * var(--spacing-large)); + overflow: hidden; + } + + div.contents .toc > h3 { + -webkit-tap-highlight-color: transparent; + cursor: pointer; + position: sticky; + top: 0; + background-color: var(--toc-background); + margin: 0; + padding: var(--spacing-large) 0; + display: block; + } + + div.contents .toc.interactive > h3::before { + content: ""; + width: 0; + height: 0; + border-left: 4px solid transparent; + border-right: 4px solid transparent; + border-top: 5px solid var(--primary-color); + display: inline-block; + margin-right: var(--spacing-small); + margin-bottom: calc(var(--navigation-font-size) / 4); + transform: rotate(-90deg); + transition: transform 0.25s ease-out; + } + + div.contents .toc.interactive.open > h3::before { + transform: rotate(0deg); + } + + div.contents .toc.interactive.open { + max-height: 45vh; + overflow: auto; + transition: max-height 0.2s ease-in-out; + } + + div.contents .toc a, div.contents .toc a.active { + color: var(--primary-color) !important; + } + + div.contents .toc a:hover { + text-decoration: underline; + } +} + +/* + Code & Fragments + */ + +code, div.fragment, pre.fragment { + border-radius: var(--border-radius-small); + border: 1px solid var(--separator-color); + overflow: hidden; +} + +code { + display: inline; + background: var(--code-background); + color: var(--code-foreground); + padding: 2px 6px; +} + +div.fragment, pre.fragment { + margin: var(--spacing-medium) 0; + padding: calc(var(--spacing-large) - (var(--spacing-large) / 6)) var(--spacing-large); + background: var(--fragment-background); + color: var(--fragment-foreground); + overflow-x: auto; +} + +@media screen and (max-width: 767px) { + div.fragment, pre.fragment { + border-top-right-radius: 0; + border-bottom-right-radius: 0; + border-right: 0; + } + + .contents > div.fragment, + .textblock > div.fragment, + .textblock > pre.fragment, + .contents > .doxygen-awesome-fragment-wrapper > div.fragment, + .textblock > .doxygen-awesome-fragment-wrapper > div.fragment, + .textblock > .doxygen-awesome-fragment-wrapper > pre.fragment { + margin: var(--spacing-medium) calc(0px - var(--spacing-large)); + border-radius: 0; + border-left: 0; + } + + .textblock li > .fragment, + .textblock li > .doxygen-awesome-fragment-wrapper > .fragment { + margin: var(--spacing-medium) calc(0px - var(--spacing-large)); + } + + .memdoc li > .fragment, + .memdoc li > .doxygen-awesome-fragment-wrapper > .fragment { + margin: var(--spacing-medium) calc(0px - var(--spacing-medium)); + } + + .textblock ul, .memdoc ul { + overflow: initial; + } + + .memdoc > div.fragment, + .memdoc > pre.fragment, + dl dd > div.fragment, + dl dd pre.fragment, + .memdoc > .doxygen-awesome-fragment-wrapper > div.fragment, + .memdoc > .doxygen-awesome-fragment-wrapper > pre.fragment, + dl dd > .doxygen-awesome-fragment-wrapper > div.fragment, + dl dd .doxygen-awesome-fragment-wrapper > pre.fragment { + margin: var(--spacing-medium) calc(0px - var(--spacing-medium)); + border-radius: 0; + border-left: 0; + } +} + +code, code a, pre.fragment, div.fragment, div.fragment .line, div.fragment span, div.fragment .line a, div.fragment .line span { + font-family: var(--font-family-monospace); + font-size: var(--code-font-size) !important; +} + +div.line:after { + margin-right: var(--spacing-medium); +} + +div.fragment .line, pre.fragment { + white-space: pre; + word-wrap: initial; + line-height: var(--fragment-lineheight); +} + +div.fragment span.keyword { + color: var(--fragment-keyword); +} + +div.fragment span.keywordtype { + color: var(--fragment-keywordtype); +} + +div.fragment span.keywordflow { + color: var(--fragment-keywordflow); +} + +div.fragment span.stringliteral { + color: var(--fragment-token) +} + +div.fragment span.comment { + color: var(--fragment-comment); +} + +div.fragment a.code { + color: var(--fragment-link) !important; +} + +div.fragment span.preprocessor { + color: var(--fragment-preprocessor); +} + +div.fragment span.lineno { + display: inline-block; + width: 27px; + border-right: none; + background: var(--fragment-linenumber-background); + color: var(--fragment-linenumber-color); +} + +div.fragment span.lineno a { + background: none; + color: var(--fragment-link) !important; +} + +div.fragment .line:first-child .lineno { + box-shadow: -999999px 0px 0 999999px var(--fragment-linenumber-background), -999998px 0px 0 999999px var(--fragment-linenumber-border); +} + +div.line { + border-radius: var(--border-radius-small); +} + +div.line.glow { + background-color: var(--primary-light-color); + box-shadow: none; +} + +/* + dl warning, attention, note, deprecated, bug, ... + */ + +dl.bug dt a, dl.deprecated dt a, dl.todo dt a { + font-weight: bold !important; +} + +dl.warning, dl.attention, dl.note, dl.deprecated, dl.bug, dl.invariant, dl.pre, dl.post, dl.todo, dl.remark { + padding: var(--spacing-medium); + margin: var(--spacing-medium) 0; + color: var(--page-background-color); + overflow: hidden; + margin-left: 0; + border-radius: var(--border-radius-small); +} + +dl.section dd { + margin-bottom: 2px; +} + +dl.warning, dl.attention { + background: var(--warning-color); + border-left: 8px solid var(--warning-color-dark); + color: var(--warning-color-darker); +} + +dl.warning dt, dl.attention dt { + color: var(--warning-color-dark); +} + +dl.note, dl.remark { + background: var(--note-color); + border-left: 8px solid var(--note-color-dark); + color: var(--note-color-darker); +} + +dl.note dt, dl.remark dt { + color: var(--note-color-dark); +} + +dl.todo { + background: var(--todo-color); + border-left: 8px solid var(--todo-color-dark); + color: var(--todo-color-darker); +} + +dl.todo dt { + color: var(--todo-color-dark); +} + +dl.bug dt a { + color: var(--todo-color-dark) !important; +} + +dl.bug { + background: var(--bug-color); + border-left: 8px solid var(--bug-color-dark); + color: var(--bug-color-darker); +} + +dl.bug dt a { + color: var(--bug-color-dark) !important; +} + +dl.deprecated { + background: var(--deprecated-color); + border-left: 8px solid var(--deprecated-color-dark); + color: var(--deprecated-color-darker); +} + +dl.deprecated dt a { + color: var(--deprecated-color-dark) !important; +} + +dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd { + margin-inline-start: 0px; +} + +dl.invariant, dl.pre, dl.post { + background: var(--invariant-color); + border-left: 8px solid var(--invariant-color-dark); + color: var(--invariant-color-darker); +} + +dl.invariant dt, dl.pre dt, dl.post dt { + color: var(--invariant-color-dark); +} + +/* + memitem + */ + +div.memdoc, div.memproto, h2.memtitle { + box-shadow: none; + background-image: none; + border: none; +} + +div.memdoc { + padding: 0 var(--spacing-medium); + background: var(--page-background-color); +} + +h2.memtitle, div.memitem { + border: 1px solid var(--separator-color); + box-shadow: var(--box-shadow); +} + +h2.memtitle { + box-shadow: 0px var(--spacing-medium) 0 -1px var(--fragment-background), var(--box-shadow); +} + +div.memitem { + transition: none; +} + +div.memproto, h2.memtitle { + background: var(--fragment-background); +} + +h2.memtitle { + font-weight: 500; + font-size: var(--memtitle-font-size); + font-family: var(--font-family-monospace); + border-bottom: none; + border-top-left-radius: var(--border-radius-medium); + border-top-right-radius: var(--border-radius-medium); + word-break: break-all; + position: relative; +} + +h2.memtitle:after { + content: ""; + display: block; + background: var(--fragment-background); + height: var(--spacing-medium); + bottom: calc(0px - var(--spacing-medium)); + left: 0; + right: -14px; + position: absolute; + border-top-right-radius: var(--border-radius-medium); +} + +h2.memtitle > span.permalink { + font-size: inherit; +} + +h2.memtitle > span.permalink > a { + text-decoration: none; + padding-left: 3px; + margin-right: -4px; + user-select: none; + display: inline-block; + margin-top: -6px; +} + +h2.memtitle > span.permalink > a:hover { + color: var(--primary-dark-color) !important; +} + +a:target + h2.memtitle, a:target + h2.memtitle + div.memitem { + border-color: var(--primary-light-color); +} + +div.memitem { + border-top-right-radius: var(--border-radius-medium); + border-bottom-right-radius: var(--border-radius-medium); + border-bottom-left-radius: var(--border-radius-medium); + overflow: hidden; + display: block !important; +} + +div.memdoc { + border-radius: 0; +} + +div.memproto { + border-radius: 0 var(--border-radius-small) 0 0; + overflow: auto; + border-bottom: 1px solid var(--separator-color); + padding: var(--spacing-medium); + margin-bottom: -1px; +} + +div.memtitle { + border-top-right-radius: var(--border-radius-medium); + border-top-left-radius: var(--border-radius-medium); +} + +div.memproto table.memname { + font-family: var(--font-family-monospace); + color: var(--page-foreground-color); + font-size: var(--memname-font-size); + text-shadow: none; +} + +div.memproto div.memtemplate { + font-family: var(--font-family-monospace); + color: var(--primary-dark-color); + font-size: var(--memname-font-size); + margin-left: 2px; + text-shadow: none; +} + +table.mlabels, table.mlabels > tbody { + display: block; +} + +td.mlabels-left { + width: auto; +} + +td.mlabels-right { + margin-top: 3px; + position: sticky; + left: 0; +} + +table.mlabels > tbody > tr:first-child { + display: flex; + justify-content: space-between; + flex-wrap: wrap; +} + +.memname, .memitem span.mlabels { + margin: 0 +} + +/* + reflist + */ + +dl.reflist { + box-shadow: var(--box-shadow); + border-radius: var(--border-radius-medium); + border: 1px solid var(--separator-color); + overflow: hidden; + padding: 0; +} + + +dl.reflist dt, dl.reflist dd { + box-shadow: none; + text-shadow: none; + background-image: none; + border: none; + padding: 12px; +} + + +dl.reflist dt { + font-weight: 500; + border-radius: 0; + background: var(--code-background); + border-bottom: 1px solid var(--separator-color); + color: var(--page-foreground-color) +} + + +dl.reflist dd { + background: none; +} + +/* + Table + */ + +.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname), +.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody { + display: inline-block; + max-width: 100%; +} + +.contents > table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname):not(.classindex) { + margin-left: calc(0px - var(--spacing-large)); + margin-right: calc(0px - var(--spacing-large)); + max-width: calc(100% + 2 * var(--spacing-large)); +} + +table.fieldtable, +table.markdownTable tbody, +table.doxtable tbody { + border: none; + margin: var(--spacing-medium) 0; + box-shadow: 0 0 0 1px var(--separator-color); + border-radius: var(--border-radius-small); +} + +table.markdownTable, table.doxtable, table.fieldtable { + padding: 1px; +} + +table.doxtable caption { + display: block; +} + +table.fieldtable { + border-collapse: collapse; + width: 100%; +} + +th.markdownTableHeadLeft, +th.markdownTableHeadRight, +th.markdownTableHeadCenter, +th.markdownTableHeadNone, +table.doxtable th { + background: var(--tablehead-background); + color: var(--tablehead-foreground); + font-weight: 600; + font-size: var(--page-font-size); +} + +th.markdownTableHeadLeft:first-child, +th.markdownTableHeadRight:first-child, +th.markdownTableHeadCenter:first-child, +th.markdownTableHeadNone:first-child, +table.doxtable tr th:first-child { + border-top-left-radius: var(--border-radius-small); +} + +th.markdownTableHeadLeft:last-child, +th.markdownTableHeadRight:last-child, +th.markdownTableHeadCenter:last-child, +th.markdownTableHeadNone:last-child, +table.doxtable tr th:last-child { + border-top-right-radius: var(--border-radius-small); +} + +table.markdownTable td, +table.markdownTable th, +table.fieldtable td, +table.fieldtable th, +table.doxtable td, +table.doxtable th { + border: 1px solid var(--separator-color); + padding: var(--spacing-small) var(--spacing-medium); +} + +table.markdownTable td:last-child, +table.markdownTable th:last-child, +table.fieldtable td:last-child, +table.fieldtable th:last-child, +table.doxtable td:last-child, +table.doxtable th:last-child { + border-right: none; +} + +table.markdownTable td:first-child, +table.markdownTable th:first-child, +table.fieldtable td:first-child, +table.fieldtable th:first-child, +table.doxtable td:first-child, +table.doxtable th:first-child { + border-left: none; +} + +table.markdownTable tr:first-child td, +table.markdownTable tr:first-child th, +table.fieldtable tr:first-child td, +table.fieldtable tr:first-child th, +table.doxtable tr:first-child td, +table.doxtable tr:first-child th { + border-top: none; +} + +table.markdownTable tr:last-child td, +table.markdownTable tr:last-child th, +table.fieldtable tr:last-child td, +table.fieldtable tr:last-child th, +table.doxtable tr:last-child td, +table.doxtable tr:last-child th { + border-bottom: none; +} + +table.markdownTable tr, table.doxtable tr { + border-bottom: 1px solid var(--separator-color); +} + +table.markdownTable tr:last-child, table.doxtable tr:last-child { + border-bottom: none; +} + +.full_width_table table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) { + display: block; +} + +.full_width_table table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody { + display: table; + width: 100%; +} + +table.fieldtable th { + font-size: var(--page-font-size); + font-weight: 600; + background-image: none; + background-color: var(--tablehead-background); + color: var(--tablehead-foreground); +} + +table.fieldtable td.fieldtype, .fieldtable td.fieldname, .fieldtable td.fielddoc, .fieldtable th { + border-bottom: 1px solid var(--separator-color); + border-right: 1px solid var(--separator-color); +} + +table.fieldtable tr:last-child td:first-child { + border-bottom-left-radius: var(--border-radius-small); +} + +table.fieldtable tr:last-child td:last-child { + border-bottom-right-radius: var(--border-radius-small); +} + +.memberdecls td.glow, .fieldtable tr.glow { + background-color: var(--primary-light-color); + box-shadow: none; +} + +table.memberdecls { + display: block; + -webkit-tap-highlight-color: transparent; +} + +table.memberdecls tr[class^='memitem'] { + font-family: var(--font-family-monospace); + font-size: var(--code-font-size); +} + +table.memberdecls tr[class^='memitem'] .memTemplParams { + font-family: var(--font-family-monospace); + font-size: var(--code-font-size); + color: var(--primary-dark-color); + white-space: normal; +} + +table.memberdecls .memItemLeft, +table.memberdecls .memItemRight, +table.memberdecls .memTemplItemLeft, +table.memberdecls .memTemplItemRight, +table.memberdecls .memTemplParams { + transition: none; + padding-top: var(--spacing-small); + padding-bottom: var(--spacing-small); + border-top: 1px solid var(--separator-color); + border-bottom: 1px solid var(--separator-color); + background-color: var(--fragment-background); +} + +table.memberdecls .memTemplItemLeft, +table.memberdecls .memTemplItemRight { + padding-top: 2px; 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+ padding-right: var(--spacing-medium); + padding-left: 0; + +} + +table.memberdecls .mdescLeft, table.memberdecls .mdescRight { + background: none; + color: var(--page-foreground-color); + padding: var(--spacing-small) 0; +} + +table.memberdecls .memItemLeft, +table.memberdecls .memTemplItemLeft { + padding-right: var(--spacing-medium); +} + +table.memberdecls .memSeparator { + background: var(--page-background-color); + height: var(--spacing-large); + border: 0; + transition: none; +} + +table.memberdecls .groupheader { + margin-bottom: var(--spacing-large); +} + +table.memberdecls .inherit_header td { + padding: 0 0 var(--spacing-medium) 0; + text-indent: -12px; + color: var(--page-secondary-foreground-color); +} + +table.memberdecls img[src="closed.png"], +table.memberdecls img[src="open.png"], +div.dynheader img[src="open.png"], +div.dynheader img[src="closed.png"] { + width: 0; + height: 0; + border-left: 4px solid transparent; + border-right: 4px solid transparent; + border-top: 5px solid var(--primary-color); + margin-top: 8px; + display: block; + float: left; + margin-left: -10px; + transition: transform 0.25s ease-out; +} + +table.memberdecls img { + margin-right: 10px; +} + +table.memberdecls img[src="closed.png"], +div.dynheader img[src="closed.png"] { + transform: rotate(-90deg); + +} + +.compoundTemplParams { + font-family: var(--font-family-monospace); + color: var(--primary-dark-color); + font-size: var(--code-font-size); +} + +@media screen and (max-width: 767px) { + + table.memberdecls .memItemLeft, + table.memberdecls .memItemRight, + table.memberdecls .mdescLeft, + table.memberdecls .mdescRight, + table.memberdecls .memTemplItemLeft, + table.memberdecls .memTemplItemRight, + table.memberdecls .memTemplParams { + display: block; + text-align: left; + padding-left: var(--spacing-large); + margin: 0 calc(0px - var(--spacing-large)) 0 calc(0px - var(--spacing-large)); + border-right: none; + border-left: none; + border-radius: 0; + white-space: normal; + } + + table.memberdecls .memItemLeft, + table.memberdecls .mdescLeft, + table.memberdecls .memTemplItemLeft { + border-bottom: 0; + padding-bottom: 0; + } + + table.memberdecls .memTemplItemLeft { + padding-top: 0; + } + + table.memberdecls .mdescLeft { + margin-bottom: calc(0px - var(--page-font-size)); + } + + table.memberdecls .memItemRight, + table.memberdecls .mdescRight, + table.memberdecls .memTemplItemRight { + border-top: 0; + padding-top: 0; + padding-right: var(--spacing-large); + overflow-x: auto; + } + + table.memberdecls tr[class^='memitem']:not(.inherit) { + display: block; + width: calc(100vw - 2 * var(--spacing-large)); + } + + table.memberdecls .mdescRight { + color: var(--page-foreground-color); + } + + table.memberdecls tr.inherit { + visibility: hidden; + } + + table.memberdecls tr[style="display: table-row;"] { + display: block !important; + visibility: visible; + width: calc(100vw - 2 * var(--spacing-large)); + animation: fade .5s; + } + + @keyframes fade { + 0% { + opacity: 0; + max-height: 0; + } + + 100% { + opacity: 1; + max-height: 200px; + } + } +} + + +/* + Horizontal Rule + */ + +hr { + margin-top: var(--spacing-large); + margin-bottom: var(--spacing-large); + height: 1px; + background-color: var(--separator-color); + border: 0; +} + +.contents hr { + box-shadow: 100px 0 0 var(--separator-color), + -100px 0 0 var(--separator-color), + 500px 0 0 var(--separator-color), + -500px 0 0 var(--separator-color), + 1500px 0 0 var(--separator-color), + -1500px 0 0 var(--separator-color), + 2000px 0 0 var(--separator-color), + -2000px 0 0 var(--separator-color); +} + +.contents img, .contents .center, .contents center, .contents div.image object { + max-width: 100%; + overflow: auto; +} + +@media screen and (max-width: 767px) { + .contents .dyncontent > .center, .contents > center { + margin-left: calc(0px - var(--spacing-large)); + margin-right: calc(0px - var(--spacing-large)); + max-width: calc(100% + 2 * var(--spacing-large)); + } +} + +/* + Directories + */ +div.directory { + border-top: 1px solid var(--separator-color); + border-bottom: 1px solid var(--separator-color); + width: auto; +} + +table.directory { + font-family: var(--font-family); + font-size: var(--page-font-size); + font-weight: normal; + width: 100%; +} + +table.directory td.entry, table.directory td.desc { + padding: calc(var(--spacing-small) / 2) var(--spacing-small); + line-height: var(--table-line-height); +} + +table.directory tr.even td:last-child { + border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0; +} + +table.directory tr.even td:first-child { + border-radius: var(--border-radius-small) 0 0 var(--border-radius-small); +} + +table.directory tr.even:last-child td:last-child { + border-radius: 0 var(--border-radius-small) 0 0; +} + +table.directory tr.even:last-child td:first-child { + border-radius: var(--border-radius-small) 0 0 0; +} + +table.directory td.desc { + min-width: 250px; +} + +table.directory tr.even { + background-color: var(--odd-color); +} + +table.directory tr.odd { + background-color: transparent; +} + +.icona { + width: auto; + height: auto; + margin: 0 var(--spacing-small); +} + +.icon { + background: var(--primary-color); + border-radius: var(--border-radius-small); + font-size: var(--page-font-size); + padding: calc(var(--page-font-size) / 5); + line-height: var(--page-font-size); + transform: scale(0.8); + height: auto; + width: var(--page-font-size); + user-select: none; +} + +.iconfopen, .icondoc, .iconfclosed { + background-position: center; + margin-bottom: 0; + height: var(--table-line-height); +} + +.icondoc { + filter: saturate(0.2); +} + +@media screen and (max-width: 767px) { + div.directory { + margin-left: calc(0px - var(--spacing-large)); + margin-right: calc(0px - var(--spacing-large)); + } +} + +@media (prefers-color-scheme: dark) { + html:not(.light-mode) .iconfopen, html:not(.light-mode) .iconfclosed { + filter: hue-rotate(180deg) invert(); + } +} + +html.dark-mode .iconfopen, html.dark-mode .iconfclosed { + filter: hue-rotate(180deg) invert(); +} + +/* + Class list + */ + +.classindex dl.odd { + background: var(--odd-color); + border-radius: var(--border-radius-small); +} + +.classindex dl.even { + background-color: transparent; +} + +/* + Class Index Doxygen 1.8 +*/ + +table.classindex { + margin-left: 0; + margin-right: 0; + width: 100%; +} + +table.classindex table div.ah { + background-image: none; + background-color: initial; + border-color: var(--separator-color); + color: var(--page-foreground-color); + box-shadow: var(--box-shadow); + border-radius: var(--border-radius-large); + padding: var(--spacing-small); +} + +div.qindex { + background-color: var(--odd-color); + border-radius: var(--border-radius-small); + border: 1px solid var(--separator-color); + padding: var(--spacing-small) 0; +} + +/* + Footer and nav-path + */ + +#nav-path { + width: 100%; +} + +#nav-path ul { + background-image: none; + background: var(--page-background-color); + border: none; + border-top: 1px solid var(--separator-color); + border-bottom: 1px solid var(--separator-color); + border-bottom: 0; + box-shadow: 0 0.75px 0 var(--separator-color); + font-size: var(--navigation-font-size); +} + +img.footer { + width: 60px; +} + +.navpath li.footer { + color: var(--page-secondary-foreground-color); +} + +address.footer { + color: var(--page-secondary-foreground-color); + margin-bottom: var(--spacing-large); +} + +#nav-path li.navelem { + background-image: none; + display: flex; + align-items: center; +} + +.navpath li.navelem a { + text-shadow: none; + display: inline-block; + color: var(--primary-color) !important; +} + +.navpath li.navelem b { + color: var(--primary-dark-color); + font-weight: 500; +} + +li.navelem { + padding: 0; + margin-left: -8px; +} + +li.navelem:first-child { + margin-left: var(--spacing-large); +} + +li.navelem:first-child:before { + display: none; +} + +#nav-path li.navelem:after { + content: ''; + border: 5px solid var(--page-background-color); + border-bottom-color: transparent; + border-right-color: transparent; + border-top-color: transparent; + transform: translateY(-1px) scaleY(4.2); + z-index: 10; + margin-left: 6px; +} + +#nav-path li.navelem:before { + content: ''; + border: 5px solid var(--separator-color); + border-bottom-color: transparent; + border-right-color: transparent; + border-top-color: transparent; + transform: translateY(-1px) scaleY(3.2); + margin-right: var(--spacing-small); +} + +.navpath li.navelem a:hover { + color: var(--primary-color); +} + +/* + Scrollbars for Webkit +*/ + +#nav-tree::-webkit-scrollbar, +div.fragment::-webkit-scrollbar, +pre.fragment::-webkit-scrollbar, +div.memproto::-webkit-scrollbar, +.contents center::-webkit-scrollbar, +.contents .center::-webkit-scrollbar, +.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar, +div.contents .toc::-webkit-scrollbar, +.contents .dotgraph::-webkit-scrollbar, +.contents .tabs-overview-container::-webkit-scrollbar { + background: transparent; + width: calc(var(--webkit-scrollbar-size) + var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding)); + height: calc(var(--webkit-scrollbar-size) + var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding)); +} + +#nav-tree::-webkit-scrollbar-thumb, +div.fragment::-webkit-scrollbar-thumb, +pre.fragment::-webkit-scrollbar-thumb, +div.memproto::-webkit-scrollbar-thumb, +.contents center::-webkit-scrollbar-thumb, +.contents .center::-webkit-scrollbar-thumb, +.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar-thumb, +div.contents .toc::-webkit-scrollbar-thumb, +.contents .dotgraph::-webkit-scrollbar-thumb, +.contents .tabs-overview-container::-webkit-scrollbar-thumb { + background-color: transparent; + border: var(--webkit-scrollbar-padding) solid transparent; + border-radius: calc(var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding)); + background-clip: padding-box; +} + +#nav-tree:hover::-webkit-scrollbar-thumb, +div.fragment:hover::-webkit-scrollbar-thumb, +pre.fragment:hover::-webkit-scrollbar-thumb, +div.memproto:hover::-webkit-scrollbar-thumb, +.contents center:hover::-webkit-scrollbar-thumb, +.contents .center:hover::-webkit-scrollbar-thumb, +.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody:hover::-webkit-scrollbar-thumb, +div.contents .toc:hover::-webkit-scrollbar-thumb, +.contents .dotgraph:hover::-webkit-scrollbar-thumb, +.contents .tabs-overview-container:hover::-webkit-scrollbar-thumb { + background-color: var(--webkit-scrollbar-color); +} + +#nav-tree::-webkit-scrollbar-track, +div.fragment::-webkit-scrollbar-track, +pre.fragment::-webkit-scrollbar-track, +div.memproto::-webkit-scrollbar-track, +.contents center::-webkit-scrollbar-track, +.contents .center::-webkit-scrollbar-track, +.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar-track, +div.contents .toc::-webkit-scrollbar-track, +.contents .dotgraph::-webkit-scrollbar-track, +.contents .tabs-overview-container::-webkit-scrollbar-track { + background: transparent; +} + +#nav-tree::-webkit-scrollbar-corner { + background-color: var(--side-nav-background); +} + +#nav-tree, +div.fragment, +pre.fragment, +div.memproto, +.contents center, +.contents .center, +.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody, +div.contents .toc { + overflow-x: auto; + overflow-x: overlay; +} + +#nav-tree { + overflow-x: auto; + overflow-y: auto; + overflow-y: overlay; +} + +/* + Scrollbars for Firefox +*/ + +#nav-tree, +div.fragment, +pre.fragment, +div.memproto, +.contents center, +.contents .center, +.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody, +div.contents .toc, +.contents .dotgraph, +.contents .tabs-overview-container { + scrollbar-width: thin; +} + +/* + Optional Dark mode toggle button +*/ + +doxygen-awesome-dark-mode-toggle { + display: inline-block; + margin: 0 0 0 var(--spacing-small); + padding: 0; + width: var(--searchbar-height); + height: var(--searchbar-height); + background: none; 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+ border: 1px solid var(--fragment-foreground); + cursor: pointer; + border-radius: var(--border-radius-small); + display: flex; + justify-content: center; + align-items: center; +} + +.doxygen-awesome-fragment-wrapper:hover doxygen-awesome-fragment-copy-button, doxygen-awesome-fragment-copy-button.success { + opacity: .28; +} + +doxygen-awesome-fragment-copy-button:hover, doxygen-awesome-fragment-copy-button.success { + opacity: 1 !important; +} + +doxygen-awesome-fragment-copy-button:active:not([class~=success]) svg { + transform: scale(.91); +} + +doxygen-awesome-fragment-copy-button svg { + fill: var(--fragment-foreground); + width: 18px; + height: 18px; +} + +doxygen-awesome-fragment-copy-button.success svg { + fill: rgb(14, 168, 14); +} + +doxygen-awesome-fragment-copy-button.success { + border-color: rgb(14, 168, 14); +} + +@media screen and (max-width: 767px) { + .textblock > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button, + .textblock li > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button, + .memdoc li > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button, + .memdoc > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button, + dl dd > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button { + right: 0; 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+ overflow-y: visible; +} + +.tabs-overview { + border-bottom: 1px solid var(--separator-color); + display: flex; + flex-direction: row; +} + +.tabs-overview button.tab-button { + color: var(--page-foreground-color); + margin: 0; + border: none; + background: transparent; + padding: var(--spacing-small) 0; + display: inline-block; + font-size: var(--page-font-size); + cursor: pointer; + box-shadow: 0 1px 0 0 var(--separator-color); + position: relative; +} + +.tabs-overview button.tab-button .tab-title { + float: left; + white-space: nowrap; + padding: var(--spacing-small) var(--spacing-large); + border-radius: var(--border-radius-medium); +} + +.tabs-overview button.tab-button:not(:last-child) .tab-title { + box-shadow: 8px 0 0 -7px var(--separator-color); +} + +.tabs-overview button.tab-button:hover .tab-title { + background: var(--separator-color); + box-shadow: none; +} + +.tabs-overview button.tab-button.active { + color: var(--primary-color); +} + +.tabs-overview button.tab-button.active::after { + content: ''; + display: block; + position: absolute; + left: 0px; + bottom: 0; + right: 0px; + height: 3px; + border-radius: var(--border-radius-small) var(--border-radius-small) 0 0; + background-color: var(--primary-color); +} diff --git a/docs/cpp/doxygen.css b/docs/cpp/doxygen.css new file mode 100644 index 00000000..89dee6c4 --- /dev/null +++ b/docs/cpp/doxygen.css @@ -0,0 +1,1973 @@ +/* The standard CSS for doxygen 1.9.5*/ + +html { +/* page base colors */ +--page-background-color: white; +--page-foreground-color: black; +--page-link-color: #3D578C; +--page-visited-link-color: #4665A2; + +/* index */ +--index-odd-item-bg-color: #F8F9FC; +--index-even-item-bg-color: white; +--index-header-color: black; +--index-separator-color: #A0A0A0; + +/* header */ +--header-background-color: #F9FAFC; +--header-separator-color: #C4CFE5; +--header-gradient-image: url('nav_h.png'); +--group-header-separator-color: #879ECB; +--group-header-color: #354C7B; +--inherit-header-color: gray; + +--footer-foreground-color: #2A3D61; +--footer-logo-width: 104px; +--citation-label-color: #334975; +--glow-color: cyan; + +--title-background-color: white; +--title-separator-color: #5373B4; +--directory-separator-color: #9CAFD4; +--separator-color: #4A6AAA; + +--blockquote-background-color: #F7F8FB; +--blockquote-border-color: #9CAFD4; + +--scrollbar-thumb-color: #9CAFD4; +--scrollbar-background-color: #F9FAFC; + +--icon-background-color: #728DC1; +--icon-foreground-color: white; +--icon-doc-image: url('doc.png'); + +/* brief member declaration list */ +--memdecl-background-color: #F9FAFC; +--memdecl-separator-color: #DEE4F0; +--memdecl-foreground-color: #555; +--memdecl-template-color: #4665A2; + +/* detailed member list */ +--memdef-border-color: #A8B8D9; +--memdef-title-background-color: #E2E8F2; +--memdef-title-gradient-image: url('nav_f.png'); +--memdef-proto-background-color: #DFE5F1; +--memdef-proto-text-color: #253555; +--memdef-proto-text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); +--memdef-doc-background-color: white; +--memdef-param-name-color: #602020; +--memdef-template-color: #4665A2; + +/* tables */ +--table-cell-border-color: #2D4068; +--table-header-background-color: #374F7F; +--table-header-foreground-color: #FFFFFF; + +/* labels */ +--label-background-color: #728DC1; +--label-left-top-border-color: #5373B4; +--label-right-bottom-border-color: #C4CFE5; +--label-foreground-color: white; + +/** navigation bar/tree/menu */ +--nav-background-color: #F9FAFC; +--nav-foreground-color: #364D7C; +--nav-gradient-image: url('tab_b.png'); +--nav-gradient-hover-image: url('tab_h.png'); +--nav-gradient-active-image: url('tab_a.png'); +--nav-gradient-active-image-parent: url("../tab_a.png"); +--nav-separator-image: url('tab_s.png'); +--nav-breadcrumb-image: url('bc_s.png'); +--nav-breadcrumb-border-color: #C2CDE4; +--nav-splitbar-image: url('splitbar.png'); +--nav-font-size-level1: 13px; +--nav-font-size-level2: 10px; +--nav-font-size-level3: 9px; +--nav-text-normal-color: #283A5D; +--nav-text-hover-color: white; +--nav-text-active-color: white; +--nav-text-normal-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); +--nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); +--nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); +--nav-menu-button-color: #364D7C; +--nav-menu-background-color: white; +--nav-menu-foreground-color: #555555; +--nav-menu-toggle-color: rgba(255, 255, 255, 0.5); +--nav-arrow-color: #9CAFD4; +--nav-arrow-selected-color: #9CAFD4; + +/* table of contents */ +--toc-background-color: #F4F6FA; +--toc-border-color: #D8DFEE; +--toc-header-color: #4665A2; + +/** search field */ +--search-background-color: white; +--search-foreground-color: #909090; +--search-magnification-image: url('mag.svg'); +--search-magnification-select-image: url('mag_sel.svg'); +--search-active-color: black; +--search-filter-background-color: #F9FAFC; +--search-filter-foreground-color: black; +--search-filter-border-color: #90A5CE; +--search-filter-highlight-text-color: white; +--search-filter-highlight-bg-color: #3D578C; +--search-results-foreground-color: #425E97; +--search-results-background-color: #EEF1F7; +--search-results-border-color: black; +--search-box-shadow: inset 0.5px 0.5px 3px 0px #555; + +/** code fragments */ +--code-keyword-color: #008000; +--code-type-keyword-color: #604020; +--code-flow-keyword-color: #E08000; +--code-comment-color: #800000; +--code-preprocessor-color: #806020; +--code-string-literal-color: #002080; +--code-char-literal-color: #008080; +--code-vhdl-digit-color: #FF00FF; +--code-vhdl-char-color: #000000; +--code-vhdl-keyword-color: #700070; +--code-vhdl-logic-color: #FF0000; +--code-link-color: #4665A2; +--code-external-link-color: #4665A2; +--fragment-foreground-color: black; +--fragment-background-color: #FBFCFD; +--fragment-border-color: #C4CFE5; +--fragment-lineno-border-color: #00FF00; +--fragment-lineno-background-color: #E8E8E8; +--fragment-lineno-foreground-color: black; +--fragment-lineno-link-fg-color: #4665A2; +--fragment-lineno-link-bg-color: #D8D8D8; +--fragment-lineno-link-hover-fg-color: #4665A2; +--fragment-lineno-link-hover-bg-color: #C8C8C8; +--tooltip-foreground-color: black; +--tooltip-background-color: white; +--tooltip-border-color: gray; +--tooltip-doc-color: grey; +--tooltip-declaration-color: #006318; +--tooltip-link-color: #4665A2; +--tooltip-shadow: 1px 1px 7px gray; + +/** font-family */ +--font-family-normal: Roboto,sans-serif; +--font-family-monospace: monospace,fixed; +--font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif; +--font-family-title: Tahoma,Arial,sans-serif; +--font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif; +--font-family-search: Arial,Verdana,sans-serif; +--font-family-icon: Arial,Helvetica; +--font-family-tooltip: Roboto,sans-serif; + +} + +@media (prefers-color-scheme: dark) { + html:not(.dark-mode) { + color-scheme: dark; + +/* page base colors */ +--page-background-color: black; +--page-foreground-color: #C9D1D9; +--page-link-color: #90A5CE; +--page-visited-link-color: #A3B4D7; + +/* index */ +--index-odd-item-bg-color: #0B101A; +--index-even-item-bg-color: black; +--index-header-color: #C4CFE5; +--index-separator-color: #334975; + +/* header */ +--header-background-color: #070B11; +--header-separator-color: #141C2E; +--header-gradient-image: url('nav_hd.png'); +--group-header-separator-color: #283A5D; +--group-header-color: #90A5CE; +--inherit-header-color: #A0A0A0; + +--footer-foreground-color: #5B7AB7; +--footer-logo-width: 60px; +--citation-label-color: #90A5CE; +--glow-color: cyan; + +--title-background-color: #090D16; +--title-separator-color: #354C79; +--directory-separator-color: #283A5D; +--separator-color: #283A5D; + +--blockquote-background-color: #101826; +--blockquote-border-color: #283A5D; + +--scrollbar-thumb-color: #283A5D; +--scrollbar-background-color: #070B11; + +--icon-background-color: #334975; +--icon-foreground-color: #C4CFE5; +--icon-doc-image: url('docd.png'); + +/* brief member declaration list */ +--memdecl-background-color: #0B101A; +--memdecl-separator-color: #2C3F65; +--memdecl-foreground-color: #BBB; +--memdecl-template-color: #7C95C6; + +/* detailed member list */ +--memdef-border-color: #233250; +--memdef-title-background-color: #1B2840; +--memdef-title-gradient-image: url('nav_fd.png'); +--memdef-proto-background-color: #19243A; +--memdef-proto-text-color: #9DB0D4; +--memdef-proto-text-shadow: 0px 1px 1px rgba(0, 0, 0, 0.9); +--memdef-doc-background-color: black; +--memdef-param-name-color: #D28757; +--memdef-template-color: #7C95C6; + +/* tables */ +--table-cell-border-color: #283A5D; +--table-header-background-color: #283A5D; +--table-header-foreground-color: #C4CFE5; + +/* labels */ +--label-background-color: #354C7B; +--label-left-top-border-color: #4665A2; +--label-right-bottom-border-color: #283A5D; +--label-foreground-color: #CCCCCC; + +/** navigation bar/tree/menu */ +--nav-background-color: #101826; +--nav-foreground-color: #364D7C; +--nav-gradient-image: url('tab_bd.png'); +--nav-gradient-hover-image: url('tab_hd.png'); +--nav-gradient-active-image: url('tab_ad.png'); +--nav-gradient-active-image-parent: url("../tab_ad.png"); +--nav-separator-image: url('tab_sd.png'); +--nav-breadcrumb-image: url('bc_sd.png'); +--nav-breadcrumb-border-color: #2A3D61; +--nav-splitbar-image: url('splitbard.png'); +--nav-font-size-level1: 13px; +--nav-font-size-level2: 10px; +--nav-font-size-level3: 9px; +--nav-text-normal-color: #B6C4DF; +--nav-text-hover-color: #DCE2EF; +--nav-text-active-color: #DCE2EF; +--nav-text-normal-shadow: 0px 1px 1px black; +--nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); +--nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); +--nav-menu-button-color: #B6C4DF; +--nav-menu-background-color: #05070C; +--nav-menu-foreground-color: #BBBBBB; +--nav-menu-toggle-color: rgba(255, 255, 255, 0.2); +--nav-arrow-color: #334975; +--nav-arrow-selected-color: #90A5CE; + +/* table of contents */ +--toc-background-color: #151E30; +--toc-border-color: #202E4A; +--toc-header-color: #A3B4D7; + +/** search field */ +--search-background-color: black; +--search-foreground-color: #C5C5C5; +--search-magnification-image: url('mag_d.svg'); +--search-magnification-select-image: url('mag_seld.svg'); +--search-active-color: #C5C5C5; +--search-filter-background-color: #101826; +--search-filter-foreground-color: #90A5CE; +--search-filter-border-color: #7C95C6; +--search-filter-highlight-text-color: #BCC9E2; +--search-filter-highlight-bg-color: #283A5D; +--search-results-background-color: #101826; +--search-results-foreground-color: #90A5CE; +--search-results-border-color: #7C95C6; +--search-box-shadow: inset 0.5px 0.5px 3px 0px #2F436C; + +/** code fragments */ +--code-keyword-color: #CC99CD; +--code-type-keyword-color: #AB99CD; +--code-flow-keyword-color: #E08000; +--code-comment-color: #717790; +--code-preprocessor-color: #65CABE; +--code-string-literal-color: #7EC699; +--code-char-literal-color: #00E0F0; +--code-vhdl-digit-color: #FF00FF; +--code-vhdl-char-color: #000000; +--code-vhdl-keyword-color: #700070; +--code-vhdl-logic-color: #FF0000; +--code-link-color: #79C0FF; +--code-external-link-color: #79C0FF; +--fragment-foreground-color: #C9D1D9; +--fragment-background-color: black; +--fragment-border-color: #30363D; +--fragment-lineno-border-color: #30363D; +--fragment-lineno-background-color: black; +--fragment-lineno-foreground-color: #6E7681; +--fragment-lineno-link-fg-color: #6E7681; +--fragment-lineno-link-bg-color: #303030; +--fragment-lineno-link-hover-fg-color: #8E96A1; +--fragment-lineno-link-hover-bg-color: #505050; +--tooltip-foreground-color: #C9D1D9; +--tooltip-background-color: #202020; +--tooltip-border-color: #C9D1D9; +--tooltip-doc-color: #D9E1E9; +--tooltip-declaration-color: #20C348; +--tooltip-link-color: #79C0FF; +--tooltip-shadow: none; + +/** font-family */ +--font-family-normal: Roboto,sans-serif; +--font-family-monospace: monospace,fixed; +--font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif; +--font-family-title: Tahoma,Arial,sans-serif; +--font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif; +--font-family-search: Arial,Verdana,sans-serif; +--font-family-icon: Arial,Helvetica; +--font-family-tooltip: Roboto,sans-serif; + +}} +body { + background-color: var(--page-background-color); + color: var(--page-foreground-color); + scrollbar-color: var(--scrollbar-thumb-color) var(--scrollbar-background-color); +} + +::-webkit-scrollbar { + background-color: var(--scrollbar-background-color); + height: 10px; + width: 10px; +} +::-webkit-scrollbar-thumb { + background-color: var(--scrollbar-thumb-color); + border-radius: 8px; +} +::-webkit-scrollbar-corner { + background-color: var(--scrollbar-background-color); +} + +body, table, div, p, dl { + font-weight: 400; + font-size: 14px; + font-family: var(--font-family-normal); + line-height: 22px; +} + +/* @group Heading Levels */ + +.title { + font-weight: 400; + font-size: 14px; + font-family: var(--font-family-normal); + line-height: 28px; + font-size: 150%; + font-weight: bold; + margin: 10px 2px; +} + +h1.groupheader { + font-size: 150%; +} + +h2.groupheader { + border-bottom: 1px solid var(--group-header-separator-color); + color: var(--group-header-color); + font-size: 150%; + font-weight: normal; + margin-top: 1.75em; + padding-top: 8px; + padding-bottom: 4px; + width: 100%; +} + +h3.groupheader { + font-size: 100%; +} + +h1, h2, h3, h4, h5, h6 { + -webkit-transition: text-shadow 0.5s linear; + -moz-transition: text-shadow 0.5s linear; + -ms-transition: text-shadow 0.5s linear; + -o-transition: text-shadow 0.5s linear; + transition: text-shadow 0.5s linear; + margin-right: 15px; +} + +h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow { + text-shadow: 0 0 15px var(--glow-color); +} + +dt { + font-weight: bold; +} + +p.startli, p.startdd { + margin-top: 2px; +} + +th p.starttd, th p.intertd, th p.endtd { + font-size: 100%; + font-weight: 700; +} + +p.starttd { + margin-top: 0px; +} + +p.endli { + margin-bottom: 0px; +} + +p.enddd { + margin-bottom: 4px; +} + +p.endtd { + margin-bottom: 2px; +} + +p.interli { +} + +p.interdd { +} + +p.intertd { +} + +/* @end */ + +caption { + font-weight: bold; +} + +span.legend { + font-size: 70%; + text-align: center; +} + +h3.version { + font-size: 90%; + text-align: center; +} + +div.navtab { + padding-right: 15px; + text-align: right; + line-height: 110%; +} + +div.navtab table { + border-spacing: 0; +} + +td.navtab { + padding-right: 6px; + padding-left: 6px; +} + +td.navtabHL { + background-image: var(--nav-gradient-active-image); + background-repeat:repeat-x; + padding-right: 6px; + padding-left: 6px; +} + +td.navtabHL a, td.navtabHL a:visited { + color: var(--nav-text-hover-color); + text-shadow: var(--nav-text-hover-shadow); +} + +a.navtab { + font-weight: bold; +} + +div.qindex{ + text-align: center; + width: 100%; + line-height: 140%; + font-size: 130%; + color: var(--index-separator-color); +} + +dt.alphachar{ + font-size: 180%; + font-weight: bold; +} + +.alphachar a{ + color: var(--index-header-color); +} + +.alphachar a:hover, .alphachar a:visited{ + text-decoration: none; +} + +.classindex dl { + padding: 25px; + column-count:1 +} + +.classindex dd { + display:inline-block; + margin-left: 50px; + width: 90%; + line-height: 1.15em; +} + +.classindex dl.even { + background-color: var(--index-even-item-bg-color); +} + +.classindex dl.odd { + background-color: var(--index-odd-item-bg-color); +} + +@media(min-width: 1120px) { + .classindex dl { + column-count:2 + } +} + +@media(min-width: 1320px) { + .classindex dl { + column-count:3 + } +} + + +/* @group Link Styling */ + +a { + color: var(--page-link-color); + font-weight: normal; + text-decoration: none; +} + +.contents a:visited { + color: var(--page-visited-link-color); +} + +a:hover { + text-decoration: underline; +} + +a.el { + font-weight: bold; +} + +a.elRef { +} + +a.code, a.code:visited, a.line, a.line:visited { + color: var(--code-link-color); +} + +a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited { + color: var(--code-external-link-color); +} + +a.code.hl_class { /* style for links to class names in code snippets */ } +a.code.hl_struct { /* style for links to struct names in code snippets */ } +a.code.hl_union { /* style for links to union names in code snippets */ } +a.code.hl_interface { /* style for links to interface names in code snippets */ } +a.code.hl_protocol { /* style for links to protocol names in code snippets */ } +a.code.hl_category { /* style for links to category names in code snippets */ } +a.code.hl_exception { /* style for links to exception names in code snippets */ } +a.code.hl_service { /* style for links to service names in code snippets */ } +a.code.hl_singleton { /* style for links to singleton names in code snippets */ } +a.code.hl_concept { /* style for links to concept names in code snippets */ } +a.code.hl_namespace { /* style for links to namespace names in code snippets */ } +a.code.hl_package { /* style for links to package names in code snippets */ } +a.code.hl_define { /* style for links to macro names in code snippets */ } +a.code.hl_function { /* style for links to function names in code snippets */ } +a.code.hl_variable { /* style for links to variable names in code snippets */ } +a.code.hl_typedef { /* style for links to typedef names in code snippets */ } +a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ } +a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ } +a.code.hl_signal { /* style for links to Qt signal names in code snippets */ } +a.code.hl_slot { /* style for links to Qt slot names in code snippets */ } +a.code.hl_friend { /* style for links to friend names in code snippets */ } +a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ } +a.code.hl_property { /* style for links to property names in code snippets */ } +a.code.hl_event { /* style for links to event names in code snippets */ } +a.code.hl_sequence { /* style for links to sequence names in code snippets */ } +a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ } + +/* @end */ + +dl.el { + margin-left: -1cm; +} + +ul { + overflow: visible; +} + +#side-nav ul { + overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */ +} + +#main-nav ul { + overflow: visible; /* reset ul rule for the navigation bar drop down lists */ +} + +.fragment { + text-align: left; + direction: ltr; + overflow-x: auto; /*Fixed: fragment lines overlap floating elements*/ + overflow-y: hidden; +} + +pre.fragment { + border: 1px solid var(--fragment-border-color); + background-color: var(--fragment-background-color); + color: var(--fragment-foreground-color); + padding: 4px 6px; + margin: 4px 8px 4px 2px; + overflow: auto; + word-wrap: break-word; + font-size: 9pt; + line-height: 125%; + font-family: var(--font-family-monospace); + font-size: 105%; +} + +div.fragment { + padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/ + margin: 4px 8px 4px 2px; + color: var(--fragment-foreground-color); + background-color: var(--fragment-background-color); + border: 1px solid var(--fragment-border-color); +} + +div.line { + font-family: var(--font-family-monospace); + font-size: 13px; + min-height: 13px; + line-height: 1.0; + text-wrap: unrestricted; + white-space: -moz-pre-wrap; /* Moz */ + white-space: -pre-wrap; /* Opera 4-6 */ + white-space: -o-pre-wrap; /* Opera 7 */ + white-space: pre-wrap; /* CSS3 */ + word-wrap: break-word; /* IE 5.5+ */ + text-indent: -53px; + padding-left: 53px; + padding-bottom: 0px; + margin: 0px; + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +div.line:after { + content:"\000A"; + white-space: pre; +} + +div.line.glow { + background-color: var(--glow-color); + box-shadow: 0 0 10px var(--glow-color); +} + + +span.lineno { + padding-right: 4px; + margin-right: 9px; + text-align: right; + border-right: 2px solid var(--fragment-lineno-border-color); + color: var(--fragment-lineno-foreground-color); + background-color: var(--fragment-lineno-background-color); + white-space: pre; +} +span.lineno a, span.lineno a:visited { + color: var(--fragment-lineno-link-fg-color); + background-color: var(--fragment-lineno-link-bg-color); +} + +span.lineno a:hover { + color: var(--fragment-lineno-link-hover-fg-color); + background-color: var(--fragment-lineno-link-hover-bg-color); +} + +.lineno { + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +div.classindex ul { + list-style: none; + padding-left: 0; +} + +div.classindex span.ai { + display: inline-block; +} + +div.groupHeader { + margin-left: 16px; + margin-top: 12px; + font-weight: bold; +} + +div.groupText { + margin-left: 16px; + font-style: italic; +} + +body { + color: var(--page-foreground-color); + margin: 0; +} + +div.contents { + margin-top: 10px; + margin-left: 12px; + margin-right: 8px; +} + +p.formulaDsp { + text-align: center; +} + +img.dark-mode-visible { + display: none; +} +img.light-mode-visible { + display: none; +} + +img.formulaDsp { + +} + +img.formulaInl, img.inline { + vertical-align: middle; +} + +div.center { + text-align: center; + margin-top: 0px; + margin-bottom: 0px; + padding: 0px; +} + +div.center img { + border: 0px; +} + +address.footer { + text-align: right; + padding-right: 12px; +} + +img.footer { + border: 0px; + vertical-align: middle; + width: var(--footer-logo-width); +} + +.compoundTemplParams { + color: var(--memdecl-template-color); + font-size: 80%; + line-height: 120%; +} + +/* @group Code Colorization */ + +span.keyword { + color: var(--code-keyword-color); +} + +span.keywordtype { + color: var(--code-type-keyword-color); +} + +span.keywordflow { + color: var(--code-flow-keyword-color); +} + +span.comment { + color: var(--code-comment-color); +} + +span.preprocessor { + color: var(--code-preprocessor-color); +} + +span.stringliteral { + color: var(--code-string-literal-color); +} + +span.charliteral { + color: var(--code-char-literal-color); +} + +span.vhdldigit { + color: var(--code-vhdl-digit-color); +} + +span.vhdlchar { + color: var(--code-vhdl-char-color); +} + +span.vhdlkeyword { + color: var(--code-vhdl-keyword-color); +} + +span.vhdllogic { + color: var(--code-vhdl-logic-color); +} + +blockquote { + background-color: var(--blockquote-background-color); + border-left: 2px solid var(--blockquote-border-color); + margin: 0 24px 0 4px; + padding: 0 12px 0 16px; +} + +/* @end */ + +td.tiny { + font-size: 75%; +} + +.dirtab { + padding: 4px; + border-collapse: collapse; + border: 1px solid var(--table-cell-border-color); +} + +th.dirtab { + background-color: var(--table-header-background-color); + color: var(--table-header-foreground-color); + font-weight: bold; +} + +hr { + height: 0px; + border: none; + border-top: 1px solid var(--separator-color); +} + +hr.footer { + height: 1px; +} + +/* @group Member Descriptions */ + +table.memberdecls { + border-spacing: 0px; + padding: 0px; +} + +.memberdecls td, .fieldtable tr { + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +.memberdecls td.glow, .fieldtable tr.glow { + background-color: var(--glow-color); + box-shadow: 0 0 15px var(--glow-color); +} + +.mdescLeft, .mdescRight, +.memItemLeft, .memItemRight, +.memTemplItemLeft, .memTemplItemRight, .memTemplParams { + background-color: var(--memdecl-background-color); + border: none; + margin: 4px; + padding: 1px 0 0 8px; +} + +.mdescLeft, .mdescRight { + padding: 0px 8px 4px 8px; + color: var(--memdecl-foreground-color); +} + +.memSeparator { + border-bottom: 1px solid var(--memdecl-separator-color); + line-height: 1px; + margin: 0px; + padding: 0px; +} + +.memItemLeft, .memTemplItemLeft { + white-space: nowrap; +} + +.memItemRight, .memTemplItemRight { + width: 100%; +} + +.memTemplParams { + color: var(--memdecl-template-color); + white-space: nowrap; + font-size: 80%; +} + +/* @end */ + +/* @group Member Details */ + +/* Styles for detailed member documentation */ + +.memtitle { + padding: 8px; + border-top: 1px solid var(--memdef-border-color); + border-left: 1px solid var(--memdef-border-color); + border-right: 1px solid var(--memdef-border-color); + border-top-right-radius: 4px; + border-top-left-radius: 4px; + margin-bottom: -1px; + background-image: var(--memdef-title-gradient-image); + background-repeat: repeat-x; + background-color: var(--memdef-title-background-color); + line-height: 1.25; + font-weight: 300; + float:left; +} + +.permalink +{ + font-size: 65%; + display: inline-block; + vertical-align: middle; +} + +.memtemplate { + font-size: 80%; + color: var(--memdef-template-color); + font-weight: normal; + margin-left: 9px; +} + +.mempage { + width: 100%; +} + +.memitem { + padding: 0; + margin-bottom: 10px; + margin-right: 5px; + -webkit-transition: box-shadow 0.5s linear; + -moz-transition: box-shadow 0.5s linear; + -ms-transition: box-shadow 0.5s linear; + -o-transition: box-shadow 0.5s linear; + transition: box-shadow 0.5s linear; + display: table !important; + width: 100%; +} + +.memitem.glow { + box-shadow: 0 0 15px var(--glow-color); +} + +.memname { + font-weight: 400; + margin-left: 6px; +} + +.memname td { + vertical-align: bottom; +} + +.memproto, dl.reflist dt { + border-top: 1px solid var(--memdef-border-color); + border-left: 1px solid var(--memdef-border-color); + border-right: 1px solid var(--memdef-border-color); + padding: 6px 0px 6px 0px; + color: var(--memdef-proto-text-color); + font-weight: bold; + text-shadow: var(--memdef-proto-text-shadow); + background-color: var(--memdef-proto-background-color); + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + border-top-right-radius: 4px; +} + +.overload { + font-family: var(--font-family-monospace); + font-size: 65%; +} + +.memdoc, dl.reflist dd { + border-bottom: 1px solid var(--memdef-border-color); + border-left: 1px solid var(--memdef-border-color); + border-right: 1px solid var(--memdef-border-color); + padding: 6px 10px 2px 10px; + border-top-width: 0; + background-image:url('nav_g.png'); + background-repeat:repeat-x; + background-color: var(--memdef-doc-background-color); + /* opera specific markup */ + border-bottom-left-radius: 4px; + border-bottom-right-radius: 4px; + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + /* firefox specific markup */ + -moz-border-radius-bottomleft: 4px; + -moz-border-radius-bottomright: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; + /* webkit specific markup */ + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +dl.reflist dt { + padding: 5px; +} + +dl.reflist dd { + margin: 0px 0px 10px 0px; + padding: 5px; +} + +.paramkey { + text-align: right; +} + +.paramtype { + white-space: nowrap; +} + +.paramname { + color: var(--memdef-param-name-color); + white-space: nowrap; +} +.paramname em { + font-style: normal; +} +.paramname code { + line-height: 14px; +} + +.params, .retval, .exception, .tparams { + margin-left: 0px; + padding-left: 0px; +} + +.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname { + font-weight: bold; + vertical-align: top; +} + +.params .paramtype, .tparams .paramtype { + font-style: italic; + vertical-align: top; +} + +.params .paramdir, .tparams .paramdir { + font-family: var(--font-family-monospace); + vertical-align: top; +} + +table.mlabels { + border-spacing: 0px; +} + +td.mlabels-left { + width: 100%; + padding: 0px; +} + +td.mlabels-right { + vertical-align: bottom; + padding: 0px; + white-space: nowrap; +} + +span.mlabels { + margin-left: 8px; +} + +span.mlabel { + background-color: var(--label-background-color); + border-top:1px solid var(--label-left-top-border-color); + border-left:1px solid var(--label-left-top-border-color); + border-right:1px solid var(--label-right-bottom-border-color); + border-bottom:1px solid var(--label-right-bottom-border-color); + text-shadow: none; + color: var(--label-foreground-color); + margin-right: 4px; + padding: 2px 3px; + border-radius: 3px; + font-size: 7pt; + white-space: nowrap; + vertical-align: middle; +} + + + +/* @end */ + +/* these are for tree view inside a (index) page */ + +div.directory { + margin: 10px 0px; + border-top: 1px solid var(--directory-separator-color); + border-bottom: 1px solid var(--directory-separator-color); + width: 100%; +} + +.directory table { + border-collapse:collapse; +} + +.directory td { + margin: 0px; + padding: 0px; + vertical-align: top; +} + +.directory td.entry { + white-space: nowrap; + padding-right: 6px; + padding-top: 3px; +} + +.directory td.entry a { + outline:none; +} + +.directory td.entry a img { + border: none; +} + +.directory td.desc { + width: 100%; + padding-left: 6px; + padding-right: 6px; + padding-top: 3px; + border-left: 1px solid rgba(0,0,0,0.05); +} + +.directory tr.odd { + padding-left: 6px; + background-color: var(--index-odd-item-bg-color); +} + +.directory tr.even { + padding-left: 6px; + background-color: var(--index-even-item-bg-color); +} + +.directory img { + vertical-align: -30%; +} + +.directory .levels { + white-space: nowrap; + width: 100%; + text-align: right; + font-size: 9pt; +} + +.directory .levels span { + cursor: pointer; + padding-left: 2px; + padding-right: 2px; + color: var(--page-link-color); +} + +.arrow { + color: var(--nav-arrow-color); + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; + cursor: pointer; + font-size: 80%; + display: inline-block; + width: 16px; + height: 22px; +} + +.icon { + font-family: var(--font-family-icon); + line-height: normal; + font-weight: bold; + font-size: 12px; + height: 14px; + width: 16px; + display: inline-block; + background-color: var(--icon-background-color); + color: var(--icon-foreground-color); + text-align: center; + border-radius: 4px; + margin-left: 2px; + margin-right: 2px; +} + +.icona { + width: 24px; + height: 22px; + display: inline-block; +} + +.iconfopen { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('folderopen.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.iconfclosed { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('folderclosed.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.icondoc { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:var(--icon-doc-image); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +/* @end */ + +div.dynheader { + margin-top: 8px; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +address { + font-style: normal; + color: var(--footer-foreground-color); +} + +table.doxtable caption { + caption-side: top; +} + +table.doxtable { + border-collapse:collapse; + margin-top: 4px; + margin-bottom: 4px; +} + +table.doxtable td, table.doxtable th { + border: 1px solid var(--table-cell-border-color); + padding: 3px 7px 2px; +} + +table.doxtable th { + background-color: var(--table-header-background-color); + color: var(--table-header-foreground-color); + font-size: 110%; + padding-bottom: 4px; + padding-top: 5px; +} + +table.fieldtable { + margin-bottom: 10px; + border: 1px solid var(--memdef-border-color); + border-spacing: 0px; + border-radius: 4px; + box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); +} + +.fieldtable td, .fieldtable th { + padding: 3px 7px 2px; +} + +.fieldtable td.fieldtype, .fieldtable td.fieldname { + white-space: nowrap; + border-right: 1px solid var(--memdef-border-color); + border-bottom: 1px solid var(--memdef-border-color); + vertical-align: top; +} + +.fieldtable td.fieldname { + padding-top: 3px; +} + +.fieldtable td.fielddoc { + border-bottom: 1px solid var(--memdef-border-color); +} + +.fieldtable td.fielddoc p:first-child { + margin-top: 0px; +} + +.fieldtable td.fielddoc p:last-child { + margin-bottom: 2px; +} + +.fieldtable tr:last-child td { + border-bottom: none; +} + +.fieldtable th { + background-image: var(--memdef-title-gradient-image); + background-repeat:repeat-x; + background-color: var(--memdef-title-background-color); + font-size: 90%; + color: var(--memdef-proto-text-color); + padding-bottom: 4px; + padding-top: 5px; + text-align:left; + font-weight: 400; + border-top-left-radius: 4px; + border-top-right-radius: 4px; + border-bottom: 1px solid var(--memdef-border-color); +} + + +.tabsearch { + top: 0px; + left: 10px; + height: 36px; + background-image: var(--nav-gradient-image); + z-index: 101; + overflow: hidden; + font-size: 13px; +} + +.navpath ul +{ + font-size: 11px; + background-image: var(--nav-gradient-image); + background-repeat:repeat-x; + background-position: 0 -5px; + height:30px; + line-height:30px; + color:var(--nav-text-normal-color); + border:solid 1px var(--nav-breadcrumb-border-color); + overflow:hidden; + margin:0px; + padding:0px; +} + +.navpath li +{ + list-style-type:none; + float:left; + padding-left:10px; + padding-right:15px; + background-image:var(--nav-breadcrumb-image); + background-repeat:no-repeat; + background-position:right; + color: var(--nav-foreground-color); +} + +.navpath li.navelem a +{ + height:32px; + display:block; + text-decoration: none; + outline: none; + color: var(--nav-text-normal-color); + font-family: var(--font-family-nav); + text-shadow: var(--nav-text-normal-shadow); + text-decoration: none; +} + +.navpath li.navelem a:hover +{ + color: var(--nav-text-hover-color); + text-shadow: var(--nav-text-hover-shadow); +} + +.navpath li.footer +{ + list-style-type:none; + float:right; + padding-left:10px; + padding-right:15px; + background-image:none; + background-repeat:no-repeat; + background-position:right; + color: var(--footer-foreground-color); + font-size: 8pt; +} + + +div.summary +{ + float: right; + font-size: 8pt; + padding-right: 5px; + width: 50%; + text-align: right; +} + +div.summary a +{ + white-space: nowrap; +} + +table.classindex +{ + margin: 10px; + white-space: nowrap; + margin-left: 3%; + margin-right: 3%; + width: 94%; + border: 0; + border-spacing: 0; + padding: 0; +} + +div.ingroups +{ + font-size: 8pt; + width: 50%; + text-align: left; +} + +div.ingroups a +{ + white-space: nowrap; +} + +div.header +{ + background-image: var(--header-gradient-image); + background-repeat:repeat-x; + background-color: var(--header-background-color); + margin: 0px; + border-bottom: 1px solid var(--header-separator-color); +} + +div.headertitle +{ + padding: 5px 5px 5px 10px; +} + +.PageDocRTL-title div.headertitle { + text-align: right; + direction: rtl; +} + +dl { + padding: 0 0 0 0; +} + +/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */ +dl.section { + margin-left: 0px; + padding-left: 0px; +} + +dl.note { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #D0C000; +} + +dl.warning, dl.attention { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #FF0000; +} + +dl.pre, dl.post, dl.invariant { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00D000; +} + +dl.deprecated { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #505050; +} + +dl.todo { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00C0E0; +} + +dl.test { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #3030E0; +} + +dl.bug { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #C08050; +} + +dl.section dd { + margin-bottom: 6px; +} + + +#projectrow +{ + height: 56px; +} + +#projectlogo +{ + text-align: center; + vertical-align: bottom; + border-collapse: separate; +} + +#projectlogo img +{ + border: 0px none; +} + +#projectalign +{ + vertical-align: middle; + padding-left: 0.5em; +} + +#projectname +{ + font-size: 200%; + font-family: var(--font-family-title); + margin: 0px; + padding: 2px 0px; +} + +#projectbrief +{ + font-size: 90%; + font-family: var(--font-family-title); + margin: 0px; + padding: 0px; +} + +#projectnumber +{ + font-size: 50%; + font-family: 50% var(--font-family-title); + margin: 0px; + padding: 0px; +} + +#titlearea +{ + padding: 0px; + margin: 0px; + width: 100%; + border-bottom: 1px solid var(--title-separator-color); + background-color: var(--title-background-color); +} + +.image +{ + text-align: center; +} + +.dotgraph +{ + text-align: center; +} + +.mscgraph +{ + text-align: center; +} + +.plantumlgraph +{ + text-align: center; +} + +.diagraph +{ + text-align: center; +} + +.caption +{ + font-weight: bold; +} + +dl.citelist { + margin-bottom:50px; +} + +dl.citelist dt { + color:var(--citation-label-color); + float:left; + font-weight:bold; + margin-right:10px; + padding:5px; + text-align:right; + width:52px; +} + +dl.citelist dd { + margin:2px 0 2px 72px; + padding:5px 0; +} + +div.toc { + padding: 14px 25px; + background-color: var(--toc-background-color); + border: 1px solid var(--toc-border-color); + border-radius: 7px 7px 7px 7px; + float: right; + height: auto; + margin: 0 8px 10px 10px; + width: 200px; +} + +div.toc li { + background: url("bdwn.png") no-repeat scroll 0 5px transparent; + font: 10px/1.2 var(--font-family-toc); + margin-top: 5px; + padding-left: 10px; + padding-top: 2px; +} + +div.toc h3 { + font: bold 12px/1.2 var(--font-family-toc); + color: var(--toc-header-color); + border-bottom: 0 none; + margin: 0; +} + +div.toc ul { + list-style: none outside none; + border: medium none; + padding: 0px; +} + +div.toc li.level1 { + margin-left: 0px; +} + +div.toc li.level2 { + margin-left: 15px; +} + +div.toc li.level3 { + margin-left: 30px; +} + +div.toc li.level4 { + margin-left: 45px; +} + +span.emoji { + /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html + * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort; + */ +} + +span.obfuscator { + display: none; +} + +.inherit_header { + font-weight: bold; + color: var(--inherit-header-color); + cursor: pointer; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +.inherit_header td { + padding: 6px 0px 2px 5px; +} + +.inherit { + display: none; +} + +tr.heading h2 { + margin-top: 12px; + margin-bottom: 4px; +} + +/* tooltip related style info */ + +.ttc { + position: absolute; + display: none; +} + +#powerTip { + cursor: default; + /*white-space: nowrap;*/ + color: var(--tooltip-foreground-color); + background-color: var(--tooltip-background-color); + border: 1px solid var(--tooltip-border-color); + border-radius: 4px 4px 4px 4px; + box-shadow: var(--tooltip-shadow); + display: none; + font-size: smaller; + max-width: 80%; + opacity: 0.9; + padding: 1ex 1em 1em; + position: absolute; + z-index: 2147483647; +} + +#powerTip div.ttdoc { + color: var(--tooltip-doc-color); + font-style: italic; +} + +#powerTip div.ttname a { + font-weight: bold; +} + +#powerTip a { + color: var(--tooltip-link-color); +} + +#powerTip div.ttname { + font-weight: bold; +} + +#powerTip div.ttdeci { + color: var(--tooltip-declaration-color); +} + +#powerTip div { + margin: 0px; + padding: 0px; + font-size: 12px; + font-family: var(--font-family-tooltip); + line-height: 16px; +} + +#powerTip:before, #powerTip:after { + content: ""; + position: absolute; + margin: 0px; +} + +#powerTip.n:after, #powerTip.n:before, +#powerTip.s:after, #powerTip.s:before, +#powerTip.w:after, #powerTip.w:before, +#powerTip.e:after, #powerTip.e:before, +#powerTip.ne:after, #powerTip.ne:before, +#powerTip.se:after, #powerTip.se:before, +#powerTip.nw:after, #powerTip.nw:before, +#powerTip.sw:after, #powerTip.sw:before { + border: solid transparent; + content: " "; + height: 0; + width: 0; + position: absolute; +} + +#powerTip.n:after, #powerTip.s:after, +#powerTip.w:after, #powerTip.e:after, +#powerTip.nw:after, #powerTip.ne:after, +#powerTip.sw:after, #powerTip.se:after { + border-color: rgba(255, 255, 255, 0); +} + +#powerTip.n:before, #powerTip.s:before, +#powerTip.w:before, #powerTip.e:before, +#powerTip.nw:before, #powerTip.ne:before, +#powerTip.sw:before, #powerTip.se:before { + border-color: rgba(128, 128, 128, 0); +} + +#powerTip.n:after, #powerTip.n:before, +#powerTip.ne:after, #powerTip.ne:before, +#powerTip.nw:after, #powerTip.nw:before { + top: 100%; 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+} + +#powerTip.sw:after, #powerTip.sw:before { + right: 14px; +} + +#powerTip.se:after, #powerTip.se:before { + left: 14px; +} + +#powerTip.e:after, #powerTip.e:before { + left: 100%; +} +#powerTip.e:after { + border-left-color: var(--tooltip-border-color); + border-width: 10px; + top: 50%; + margin-top: -10px; +} +#powerTip.e:before { + border-left-color: var(--tooltip-border-color); + border-width: 11px; + top: 50%; + margin-top: -11px; +} + +#powerTip.w:after, #powerTip.w:before { + right: 100%; +} +#powerTip.w:after { + border-right-color: var(--tooltip-border-color); + border-width: 10px; + top: 50%; + margin-top: -10px; +} +#powerTip.w:before { + border-right-color: var(--tooltip-border-color); + border-width: 11px; + top: 50%; + margin-top: -11px; +} + +@media print +{ + #top { display: none; } + #side-nav { display: none; } + #nav-path { display: none; } + body { overflow:visible; } + h1, h2, h3, h4, h5, h6 { page-break-after: avoid; } + .summary { display: none; } + .memitem { page-break-inside: avoid; 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+} +/* @end */ + +u { + text-decoration: underline; +} + diff --git a/docs/cpp/doxygen.svg b/docs/cpp/doxygen.svg new file mode 100644 index 00000000..d42dad52 --- /dev/null +++ b/docs/cpp/doxygen.svg @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/cpp/dynsections.js b/docs/cpp/dynsections.js new file mode 100644 index 00000000..f579fbf3 --- /dev/null +++ b/docs/cpp/dynsections.js @@ -0,0 +1,123 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. 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 ▼ src
 ▼ main
 ▼ native
 ▼ include
 ▼ pathplanner
 ▼ lib
 ▼ auto
 AutoBuilder.h
 CommandUtil.h
 NamedCommands.h
 ▼ commands
 FollowPathCommand.h
 FollowPathHolonomic.h
 FollowPathLTV.h
 FollowPathRamsete.h
 FollowPathWithEvents.h
 PathfindHolonomic.h
 PathfindingCommand.h
 PathfindLTV.h
 PathfindRamsete.h
 PathfindThenFollowPathHolonomic.h
 PathfindThenFollowPathLTV.h
 PathfindThenFollowPathRamsete.h
 PathPlannerAuto.h
 ▼ controllers
 PathFollowingController.h
 PPHolonomicDriveController.h
 PPLTVController.h
 PPRamseteController.h
 ▼ path
 ConstraintsZone.h
 EventMarker.h
 GoalEndState.h
 PathConstraints.h
 PathPlannerPath.h
 PathPlannerTrajectory.h
 PathPoint.h
 PathSegment.h
 RotationTarget.h
 ▼ pathfinding
 ADStar.h
 ▼ util
 ChassisSpeedsRateLimiter.h
 GeometryUtil.h
 HolonomicPathFollowerConfig.h
 PathPlannerLogging.h
 PIDConstants.h
 PPLibTelemetry.h
 ReplanningConfig.h
+
+
+
+ + + + diff --git a/docs/cpp/files_dup.js b/docs/cpp/files_dup.js new file mode 100644 index 00000000..c3b39c49 --- /dev/null +++ b/docs/cpp/files_dup.js @@ -0,0 +1,4 @@ +var files_dup = +[ + [ "src", "dir_68267d1309a1af8e8297ef4c3efbcdba.html", "dir_68267d1309a1af8e8297ef4c3efbcdba" ] +]; \ No newline at end of file diff --git a/docs/cpp/folderclosed.png b/docs/cpp/folderclosed.png new file mode 100644 index 00000000..bb8ab35e Binary files /dev/null and b/docs/cpp/folderclosed.png differ diff --git a/docs/cpp/folderopen.png b/docs/cpp/folderopen.png new file mode 100644 index 00000000..d6c7f676 Binary files /dev/null and b/docs/cpp/folderopen.png differ diff --git a/docs/cpp/functions.html b/docs/cpp/functions.html new file mode 100644 index 00000000..7291b471 --- /dev/null +++ b/docs/cpp/functions.html @@ -0,0 +1,250 @@ + + + + + + + +PathPlannerLib: Class Members + + + + + + + + + + + + + + +
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+ + + + diff --git a/docs/cpp/hierarchy.html b/docs/cpp/hierarchy.html new file mode 100644 index 00000000..854c106b --- /dev/null +++ b/docs/cpp/hierarchy.html @@ -0,0 +1,154 @@ + + + + + + + +PathPlannerLib: Class Hierarchy + + + + + + + + + + + + + + +
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PathPlannerLib +
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Class Hierarchy
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This inheritance list is sorted roughly, but not completely, alphabetically:
+
[detail level 123]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 Cpathplanner::ADStar
 Cpathplanner::AutoBuilder
 Cpathplanner::ChassisSpeedsRateLimiter
 ▼Cfrc2::CommandHelper
 ▼Cpathplanner::FollowPathCommand
 Cpathplanner::FollowPathHolonomic
 Cpathplanner::FollowPathLTV
 Cpathplanner::FollowPathRamsete
 Cpathplanner::FollowPathWithEvents
 Cpathplanner::PathPlannerAuto
 ▼Cpathplanner::PathfindingCommand
 Cpathplanner::PathfindHolonomic
 Cpathplanner::PathfindLTV
 Cpathplanner::PathfindRamsete
 Cpathplanner::CommandUtil
 Cpathplanner::ConstraintsZone
 Cpathplanner::EventMarker
 Cpathplanner::GoalEndState
 Cpathplanner::ADStar::GridPosition
 Cstd::hash< pathplanner::ADStar::GridPosition >
 Cpathplanner::HolonomicPathFollowerConfig
 ▼Cfrc::LTVUnicycleController
 Cpathplanner::PPLTVController
 Cpathplanner::NamedCommands
 Cpathplanner::PathConstraints
 ▼Cpathplanner::PathFollowingController
 Cpathplanner::PPHolonomicDriveController
 Cpathplanner::PPLTVController
 Cpathplanner::PPRamseteController
 Cpathplanner::PathPlannerLogging
 Cpathplanner::PathPlannerPath
 Cpathplanner::PathPlannerTrajectory
 Cpathplanner::PathPoint
 Cpathplanner::PathSegment
 Cpathplanner::PIDConstants
 Cpathplanner::PPLibTelemetry
 ▼Cfrc::RamseteController
 Cpathplanner::PPRamseteController
 Cpathplanner::ReplanningConfig
 Cpathplanner::RotationTarget
 ▼Cfrc2::SequentialCommandGroup
 Cpathplanner::PathfindThenFollowPathHolonomic
 Cpathplanner::PathfindThenFollowPathLTV
 Cpathplanner::PathfindThenFollowPathRamsete
 Cpathplanner::PathPlannerTrajectory::State
+
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+ + + + diff --git a/docs/cpp/hierarchy.js b/docs/cpp/hierarchy.js new file mode 100644 index 00000000..4cee6e70 --- /dev/null +++ b/docs/cpp/hierarchy.js @@ -0,0 +1,55 @@ +var hierarchy = +[ + [ "pathplanner::ADStar", "classpathplanner_1_1ADStar.html", null ], + [ "pathplanner::AutoBuilder", "classpathplanner_1_1AutoBuilder.html", null ], + [ "pathplanner::ChassisSpeedsRateLimiter", "classpathplanner_1_1ChassisSpeedsRateLimiter.html", null ], + [ "frc2::CommandHelper", null, [ + [ "pathplanner::FollowPathCommand", "classpathplanner_1_1FollowPathCommand.html", [ + [ "pathplanner::FollowPathHolonomic", "classpathplanner_1_1FollowPathHolonomic.html", null ], + [ "pathplanner::FollowPathLTV", "classpathplanner_1_1FollowPathLTV.html", null ], + [ "pathplanner::FollowPathRamsete", "classpathplanner_1_1FollowPathRamsete.html", null ] + ] ], + [ "pathplanner::FollowPathWithEvents", "classpathplanner_1_1FollowPathWithEvents.html", null ], + [ "pathplanner::PathPlannerAuto", "classpathplanner_1_1PathPlannerAuto.html", null ], + [ "pathplanner::PathfindingCommand", "classpathplanner_1_1PathfindingCommand.html", [ + [ "pathplanner::PathfindHolonomic", "classpathplanner_1_1PathfindHolonomic.html", null ], + [ "pathplanner::PathfindLTV", "classpathplanner_1_1PathfindLTV.html", null ], + [ "pathplanner::PathfindRamsete", "classpathplanner_1_1PathfindRamsete.html", null ] + ] ] + ] ], + [ "pathplanner::CommandUtil", "classpathplanner_1_1CommandUtil.html", null ], + [ "pathplanner::ConstraintsZone", "classpathplanner_1_1ConstraintsZone.html", null ], + [ "pathplanner::EventMarker", "classpathplanner_1_1EventMarker.html", null ], + [ "pathplanner::GoalEndState", "classpathplanner_1_1GoalEndState.html", null ], + [ "pathplanner::ADStar::GridPosition", "classpathplanner_1_1ADStar_1_1GridPosition.html", null ], + [ "std::hash< pathplanner::ADStar::GridPosition >", "structstd_1_1hash_3_01pathplanner_1_1ADStar_1_1GridPosition_01_4.html", null ], + [ "pathplanner::HolonomicPathFollowerConfig", "classpathplanner_1_1HolonomicPathFollowerConfig.html", null ], + [ "frc::LTVUnicycleController", null, [ + [ "pathplanner::PPLTVController", "classpathplanner_1_1PPLTVController.html", null ] + ] ], + [ "pathplanner::NamedCommands", "classpathplanner_1_1NamedCommands.html", null ], + [ "pathplanner::PathConstraints", "classpathplanner_1_1PathConstraints.html", null ], + [ "pathplanner::PathFollowingController", "classpathplanner_1_1PathFollowingController.html", [ + [ "pathplanner::PPHolonomicDriveController", "classpathplanner_1_1PPHolonomicDriveController.html", null ], + [ "pathplanner::PPLTVController", "classpathplanner_1_1PPLTVController.html", null ], + [ "pathplanner::PPRamseteController", "classpathplanner_1_1PPRamseteController.html", null ] + ] ], + [ "pathplanner::PathPlannerLogging", "classpathplanner_1_1PathPlannerLogging.html", null ], + [ "pathplanner::PathPlannerPath", "classpathplanner_1_1PathPlannerPath.html", null ], + [ "pathplanner::PathPlannerTrajectory", "classpathplanner_1_1PathPlannerTrajectory.html", null ], + [ "pathplanner::PathPoint", "classpathplanner_1_1PathPoint.html", null ], + [ "pathplanner::PathSegment", "classpathplanner_1_1PathSegment.html", null ], + [ "pathplanner::PIDConstants", "classpathplanner_1_1PIDConstants.html", null ], + [ "pathplanner::PPLibTelemetry", "classpathplanner_1_1PPLibTelemetry.html", null ], + [ "frc::RamseteController", null, [ + [ "pathplanner::PPRamseteController", "classpathplanner_1_1PPRamseteController.html", null ] + ] ], + [ "pathplanner::ReplanningConfig", "classpathplanner_1_1ReplanningConfig.html", null ], + [ "pathplanner::RotationTarget", "classpathplanner_1_1RotationTarget.html", null ], + [ "frc2::SequentialCommandGroup", null, [ + [ "pathplanner::PathfindThenFollowPathHolonomic", "classpathplanner_1_1PathfindThenFollowPathHolonomic.html", null ], + [ "pathplanner::PathfindThenFollowPathLTV", "classpathplanner_1_1PathfindThenFollowPathLTV.html", null ], + [ "pathplanner::PathfindThenFollowPathRamsete", "classpathplanner_1_1PathfindThenFollowPathRamsete.html", null ] + ] ], + [ "pathplanner::PathPlannerTrajectory::State", "classpathplanner_1_1PathPlannerTrajectory_1_1State.html", null ] +]; \ No newline at end of file diff --git a/docs/cpp/index.html b/docs/cpp/index.html new file mode 100644 index 00000000..6c0f8a48 --- /dev/null +++ b/docs/cpp/index.html @@ -0,0 +1,157 @@ + + + + + + + +PathPlannerLib: PathPlannerLib + + + + + + + + + + + + + + +
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PathPlannerLib +
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PathPlannerLib
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+
+

PathPlanner codecov PathPlannerLib

+

+PathPlanner

+

   

+

Download from one of the above app stores to receive auto-updates. Manual installs can be found here.

+

+About

+

PathPlanner

+

PathPlanner is a motion profile generator for FRC robots created by team 3015. The main features of PathPlanner include:

    +
  • Each path is made with Bézier curves, allowing fine tuning of the exact path shape.
    • +
  • Holonomic mode supports decoupling the robot's rotation from its direction of travel.
    • +
  • Real-time path preview
    • +
  • Allows placing "event markers" along the path which can be used to trigger other code while path following.
    • +
  • Build modular autonomous routines using other paths.
    • +
  • Automatic saving and file management
    • +
  • Robot-side vendor library for path generation and custom path following commands/controllers
    • +
  • Full autonomous command generation with PathPlannerLib auto builder
    • +
  • Real time path following telemetry
    • +
  • Hot reload (paths and autos can be updated and regenerated on the robot without redeploying code)
    • +
  • Automatic pathfinding in PathPlannerLib with AD*
    • +
+

+Usage and Documentation

+

+<a href="https://github.com/mjansen4857/pathplanner/wiki" >Check the Wiki</a>

+


+

+

Make sure you install PathPlannerLib to generate your paths.

https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json
+

Java API Docs

+

C++ API Docs

+

+How to build manually:

+
    +
  • Install Flutter (this project currently uses v3.13.6)
    • +
  • Open the project in a terminal and run the following command: flutter build <PLATFORM>
      +
    • Valid platforms are:
        +
      • windows
        • +
      • macos
        • +
      • linux
        • +
      +
      • +
    +
    • +
  • The built app will be located here:
      +
    • Windows: <PROJECT DIR>/build/windows/runner/Release
      • +
    • macOS: <PROJECT DIR>/build/macos/Build/Products/Release
      • +
    • Linux: <PROJECT DIR>/build/linux/x64/release/bundle
      • +
    +
    • +
  • OR flutter run to run in debug mode
    • +
+
+
+
+ + + + diff --git a/docs/cpp/jquery.js b/docs/cpp/jquery.js new file mode 100644 index 00000000..1dffb65b --- /dev/null +++ b/docs/cpp/jquery.js @@ -0,0 +1,34 @@ +/*! jQuery v3.6.0 | (c) OpenJS Foundation and other contributors | jquery.org/license */ +!function(e,t){"use strict";"object"==typeof module&&"object"==typeof module.exports?module.exports=e.document?t(e,!0):function(e){if(!e.document)throw new Error("jQuery requires a window with a document");return t(e)}:t(e)}("undefined"!=typeof window?window:this,function(C,e){"use strict";var t=[],r=Object.getPrototypeOf,s=t.slice,g=t.flat?function(e){return t.flat.call(e)}:function(e){return t.concat.apply([],e)},u=t.push,i=t.indexOf,n={},o=n.toString,v=n.hasOwnProperty,a=v.toString,l=a.call(Object),y={},m=function(e){return"function"==typeof e&&"number"!=typeof e.nodeType&&"function"!=typeof e.item},x=function(e){return null!=e&&e===e.window},E=C.document,c={type:!0,src:!0,nonce:!0,noModule:!0};function b(e,t,n){var 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i=this.$root.offset();this.$disableOverlay.css({top:i.top,left:i.left,width:this.$root.outerWidth(),height:this.$root.outerHeight()})}}}}),$.fn.dataSM=function(t,e){return e?this.data(t+"_smartmenus",e):this.data(t+"_smartmenus")},$.fn.removeDataSM=function(t){return this.removeData(t+"_smartmenus")},$.fn.smartmenus=function(options){if("string"==typeof options){var args=arguments,method=options;return Array.prototype.shift.call(args),this.each(function(){var t=$(this).data("smartmenus");t&&t[method]&&t[method].apply(t,args)})}return this.each(function(){var dataOpts=$(this).data("sm-options")||null;if(dataOpts)try{dataOpts=eval("("+dataOpts+")")}catch(e){dataOpts=null,alert('ERROR\n\nSmartMenus jQuery init:\nInvalid "data-sm-options" attribute value syntax.')}new $.SmartMenus(this,$.extend({},$.fn.smartmenus.defaults,options,dataOpts))})},$.fn.smartmenus.defaults={isPopup:!1,mainMenuSubOffsetX:0,mainMenuSubOffsetY:0,subMenusSubOffsetX:0,subMenusSubOffsetY:0,subMenusMinWidth:"10em",subMenusMaxWidth:"20em",subIndicators:!0,subIndicatorsPos:"append",subIndicatorsText:"",scrollStep:30,scrollAccelerate:!0,showTimeout:250,hideTimeout:500,showDuration:0,showFunction:null,hideDuration:0,hideFunction:function(t,e){t.fadeOut(200,e)},collapsibleShowDuration:0,collapsibleShowFunction:function(t,e){t.slideDown(200,e)},collapsibleHideDuration:0,collapsibleHideFunction:function(t,e){t.slideUp(200,e)},showOnClick:!1,hideOnClick:!0,noMouseOver:!1,keepInViewport:!0,keepHighlighted:!0,markCurrentItem:!1,markCurrentTree:!0,rightToLeftSubMenus:!1,bottomToTopSubMenus:!1,collapsibleBehavior:"default"},$}); \ No newline at end of file diff --git a/docs/cpp/menu.js b/docs/cpp/menu.js new file mode 100644 index 00000000..b0b26936 --- /dev/null +++ b/docs/cpp/menu.js @@ -0,0 +1,136 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function initMenu(relPath,searchEnabled,serverSide,searchPage,search) { + function makeTree(data,relPath) { + var result=''; + if ('children' in data) { + result+='
    '; + for (var i in data.children) { + var url; + var link; + link = data.children[i].url; + if (link.substring(0,1)=='^') { + url = link.substring(1); + } else { + url = relPath+link; + } + result+='
  • '+ + data.children[i].text+''+ + makeTree(data.children[i],relPath)+'
    • '; + } + result+='
'; + } + return result; + } + var searchBoxHtml; + if (searchEnabled) { + if (serverSide) { + searchBoxHtml='
'+ + '
'+ + '
 '+ + ''+ + '
'+ + '
'+ + '
'+ + '
'; + } else { + searchBoxHtml='
'+ + ''+ + ' '+ + ''+ + ''+ + ''+ + ''+ + ''+ + '
'; + } + } + + $('#main-nav').before('
'+ + ''+ + ''+ + '
'); + $('#main-nav').append(makeTree(menudata,relPath)); + $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu'); + if (searchBoxHtml) { + $('#main-menu').append('
  • '); + } + var $mainMenuState = $('#main-menu-state'); + var prevWidth = 0; + if ($mainMenuState.length) { + function initResizableIfExists() { + if (typeof initResizable==='function') initResizable(); + } + // animate mobile menu + $mainMenuState.change(function(e) { + var $menu = $('#main-menu'); + var options = { duration: 250, step: initResizableIfExists }; + if (this.checked) { + options['complete'] = function() { $menu.css('display', 'block') }; + $menu.hide().slideDown(options); + } else { + options['complete'] = function() { $menu.css('display', 'none') }; + $menu.show().slideUp(options); + } + }); + // set default menu visibility + function resetState() { + var $menu = $('#main-menu'); + var $mainMenuState = $('#main-menu-state'); + var newWidth = $(window).outerWidth(); + if (newWidth!=prevWidth) { + if ($(window).outerWidth()<768) { + $mainMenuState.prop('checked',false); $menu.hide(); + $('#searchBoxPos1').html(searchBoxHtml); + $('#searchBoxPos2').hide(); + } else { + $menu.show(); + $('#searchBoxPos1').empty(); + $('#searchBoxPos2').html(searchBoxHtml); + $('#searchBoxPos2').show(); + } + if (typeof searchBox!=='undefined') { + searchBox.CloseResultsWindow(); + } + prevWidth = newWidth; + } + } + $(window).ready(function() { resetState(); initResizableIfExists(); }); + $(window).resize(resetState); + } + $('#main-menu').smartmenus(); +} +/* @license-end */ diff --git a/docs/cpp/menudata.js b/docs/cpp/menudata.js new file mode 100644 index 00000000..ffbb7d5b --- /dev/null +++ b/docs/cpp/menudata.js @@ -0,0 +1,61 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file +*/ +var menudata={children:[ +{text:"Main Page",url:"index.html"}, +{text:"Classes",url:"annotated.html",children:[ +{text:"Class List",url:"annotated.html"}, +{text:"Class Index",url:"classes.html"}, +{text:"Class Hierarchy",url:"hierarchy.html"}, +{text:"Class Members",url:"functions.html",children:[ +{text:"All",url:"functions.html",children:[ +{text:"b",url:"functions.html#index_b"}, +{text:"c",url:"functions.html#index_c"}, +{text:"e",url:"functions.html#index_e"}, +{text:"f",url:"functions.html#index_f"}, +{text:"g",url:"functions.html#index_g"}, +{text:"h",url:"functions.html#index_h"}, +{text:"i",url:"functions.html#index_i"}, +{text:"n",url:"functions.html#index_n"}, +{text:"o",url:"functions.html#index_o"}, +{text:"p",url:"functions.html#index_p"}, +{text:"r",url:"functions.html#index_r"}, +{text:"s",url:"functions.html#index_s"}, +{text:"w",url:"functions.html#index_w"}]}, +{text:"Functions",url:"functions_func.html",children:[ +{text:"b",url:"functions_func.html#index_b"}, +{text:"c",url:"functions_func.html#index_c"}, +{text:"e",url:"functions_func.html#index_e"}, +{text:"f",url:"functions_func.html#index_f"}, +{text:"g",url:"functions_func.html#index_g"}, +{text:"h",url:"functions_func.html#index_h"}, +{text:"i",url:"functions_func.html#index_i"}, +{text:"n",url:"functions_func.html#index_n"}, +{text:"o",url:"functions_func.html#index_o"}, +{text:"p",url:"functions_func.html#index_p"}, +{text:"r",url:"functions_func.html#index_r"}, +{text:"s",url:"functions_func.html#index_s"}, +{text:"w",url:"functions_func.html#index_w"}]}]}]}, +{text:"Files",url:"files.html",children:[ +{text:"File List",url:"files.html"}]}]} diff --git a/docs/cpp/nav_f.png b/docs/cpp/nav_f.png new file mode 100644 index 00000000..72a58a52 Binary files /dev/null and b/docs/cpp/nav_f.png differ diff --git a/docs/cpp/nav_fd.png b/docs/cpp/nav_fd.png new file mode 100644 index 00000000..032fbdd4 Binary files /dev/null and b/docs/cpp/nav_fd.png differ diff --git a/docs/cpp/nav_g.png b/docs/cpp/nav_g.png new file mode 100644 index 00000000..2093a237 Binary files /dev/null and b/docs/cpp/nav_g.png differ diff --git a/docs/cpp/nav_h.png b/docs/cpp/nav_h.png new file mode 100644 index 00000000..33389b10 Binary files /dev/null and b/docs/cpp/nav_h.png differ diff --git a/docs/cpp/nav_hd.png b/docs/cpp/nav_hd.png new file mode 100644 index 00000000..de80f18a Binary files /dev/null and b/docs/cpp/nav_hd.png differ diff --git a/docs/cpp/navtree.css b/docs/cpp/navtree.css new file mode 100644 index 00000000..c8a7766a --- /dev/null +++ b/docs/cpp/navtree.css @@ -0,0 +1,150 @@ +#nav-tree .children_ul { + margin:0; + padding:4px; +} + +#nav-tree ul { + list-style:none outside none; + margin:0px; + padding:0px; +} + +#nav-tree li { + white-space:nowrap; + margin:0px; + padding:0px; +} + +#nav-tree .plus { + margin:0px; +} + +#nav-tree .selected { + background-image: url('tab_a.png'); + background-repeat:repeat-x; + color: var(--nav-text-active-color); + text-shadow: var(--nav-text-active-shadow); +} + +#nav-tree .selected .arrow { + color: var(--nav-arrow-selected-color); + text-shadow: none; +} + +#nav-tree img { + margin:0px; + padding:0px; + border:0px; + vertical-align: middle; +} + +#nav-tree a { + text-decoration:none; + padding:0px; + margin:0px; + outline:none; +} + +#nav-tree .label { + margin:0px; + padding:0px; + font: 12px var(--font-family-nav); +} + +#nav-tree .label a { + padding:2px; +} + +#nav-tree .selected a { + text-decoration:none; + color:var(--nav-text-active-color); +} + +#nav-tree .children_ul { + margin:0px; + padding:0px; +} + +#nav-tree .item { + margin:0px; + padding:0px; +} + +#nav-tree { + padding: 0px 0px; + font-size:14px; + overflow:auto; +} + +#doc-content { + overflow:auto; + display:block; + padding:0px; + margin:0px; + -webkit-overflow-scrolling : touch; /* iOS 5+ */ +} + +#side-nav { + padding:0 6px 0 0; + margin: 0px; + display:block; + position: absolute; + left: 0px; + width: $width; + overflow : hidden; +} + +.ui-resizable .ui-resizable-handle { + display:block; +} + +.ui-resizable-e { + background-image:var(--nav-splitbar-image); + background-size:100%; + background-repeat:repeat-y; + background-attachment: scroll; + cursor:ew-resize; + height:100%; + right:0; + top:0; + width:6px; +} + +.ui-resizable-handle { + display:none; + font-size:0.1px; + position:absolute; + z-index:1; +} + +#nav-tree-contents { + margin: 6px 0px 0px 0px; +} + +#nav-tree { + background-repeat:repeat-x; + background-color: var(--nav-background-color); + -webkit-overflow-scrolling : touch; /* iOS 5+ */ +} + +#nav-sync { + position:absolute; + top:5px; + right:24px; + z-index:0; +} + +#nav-sync img { + opacity:0.3; +} + +#nav-sync img:hover { + opacity:0.9; +} + +@media print +{ + #nav-tree { display: none; } + div.ui-resizable-handle { display: none; position: relative; } +} + diff --git a/docs/cpp/navtree.js b/docs/cpp/navtree.js new file mode 100644 index 00000000..27983687 --- /dev/null +++ b/docs/cpp/navtree.js @@ -0,0 +1,549 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +var navTreeSubIndices = new Array(); +var arrowDown = '▼'; +var arrowRight = '►'; + +function getData(varName) +{ + var i = varName.lastIndexOf('/'); + var n = i>=0 ? varName.substring(i+1) : varName; + return eval(n.replace(/\-/g,'_')); +} + +function stripPath(uri) +{ + return uri.substring(uri.lastIndexOf('/')+1); +} + +function stripPath2(uri) +{ + var i = uri.lastIndexOf('/'); + var s = uri.substring(i+1); + var m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/); + return m ? uri.substring(i-6) : s; +} + +function hashValue() +{ + return $(location).attr('hash').substring(1).replace(/[^\w\-]/g,''); +} + +function hashUrl() +{ + return '#'+hashValue(); +} + +function pathName() +{ + return $(location).attr('pathname').replace(/[^-A-Za-z0-9+&@#/%?=~_|!:,.;\(\)]/g, ''); +} + +function localStorageSupported() +{ + try { + return 'localStorage' in window && window['localStorage'] !== null && window.localStorage.getItem; + } + catch(e) { + return false; + } +} + +function storeLink(link) +{ + if (!$("#nav-sync").hasClass('sync') && localStorageSupported()) { + window.localStorage.setItem('navpath',link); + } +} + +function deleteLink() +{ + if (localStorageSupported()) { + window.localStorage.setItem('navpath',''); + } +} + +function cachedLink() +{ + if (localStorageSupported()) { + return window.localStorage.getItem('navpath'); + } else { + return ''; + } +} + +function getScript(scriptName,func,show) +{ + var head = document.getElementsByTagName("head")[0]; + var script = document.createElement('script'); + script.id = scriptName; + script.type = 'text/javascript'; + script.onload = func; + script.src = scriptName+'.js'; + head.appendChild(script); +} + +function createIndent(o,domNode,node,level) +{ + var level=-1; + var n = node; + while (n.parentNode) { level++; n=n.parentNode; } + if (node.childrenData) { + var imgNode = document.createElement("span"); + imgNode.className = 'arrow'; + imgNode.style.paddingLeft=(16*level).toString()+'px'; + imgNode.innerHTML=arrowRight; + node.plus_img = imgNode; + node.expandToggle = document.createElement("a"); + node.expandToggle.href = "javascript:void(0)"; + node.expandToggle.onclick = function() { + if (node.expanded) { + $(node.getChildrenUL()).slideUp("fast"); + node.plus_img.innerHTML=arrowRight; + node.expanded = false; + } else { + expandNode(o, node, false, false); + } + } + node.expandToggle.appendChild(imgNode); + domNode.appendChild(node.expandToggle); + } else { + var span = document.createElement("span"); + span.className = 'arrow'; + span.style.width = 16*(level+1)+'px'; + span.innerHTML = ' '; + domNode.appendChild(span); + } +} + +var animationInProgress = false; + +function gotoAnchor(anchor,aname,updateLocation) +{ + var pos, docContent = $('#doc-content'); + var ancParent = $(anchor.parent()); + if (ancParent.hasClass('memItemLeft') || + ancParent.hasClass('memtitle') || + ancParent.hasClass('fieldname') || + ancParent.hasClass('fieldtype') || + ancParent.is(':header')) + { + pos = ancParent.position().top; + } else if (anchor.position()) { + pos = anchor.position().top; + } + if (pos) { + var dist = Math.abs(Math.min( + pos-docContent.offset().top, + docContent[0].scrollHeight- + docContent.height()-docContent.scrollTop())); + animationInProgress=true; + docContent.animate({ + scrollTop: pos + docContent.scrollTop() - docContent.offset().top + },Math.max(50,Math.min(500,dist)),function(){ + if (updateLocation) window.location.href=aname; + animationInProgress=false; + }); + } +} + +function newNode(o, po, text, link, childrenData, lastNode) +{ + var node = new Object(); + node.children = Array(); + node.childrenData = childrenData; + node.depth = po.depth + 1; + node.relpath = po.relpath; + node.isLast = lastNode; + + node.li = document.createElement("li"); + po.getChildrenUL().appendChild(node.li); + node.parentNode = po; + + node.itemDiv = document.createElement("div"); + node.itemDiv.className = "item"; + + node.labelSpan = document.createElement("span"); + node.labelSpan.className = "label"; + + createIndent(o,node.itemDiv,node,0); + node.itemDiv.appendChild(node.labelSpan); + node.li.appendChild(node.itemDiv); + + var a = document.createElement("a"); + node.labelSpan.appendChild(a); + node.label = document.createTextNode(text); + node.expanded = false; + a.appendChild(node.label); + if (link) { + var url; + if (link.substring(0,1)=='^') { + url = link.substring(1); + link = url; + } else { + url = node.relpath+link; + } + a.className = stripPath(link.replace('#',':')); + if (link.indexOf('#')!=-1) { + var aname = '#'+link.split('#')[1]; + var srcPage = stripPath(pathName()); + var targetPage = stripPath(link.split('#')[0]); + a.href = srcPage!=targetPage ? url : "javascript:void(0)"; + a.onclick = function(){ + storeLink(link); + if (!$(a).parent().parent().hasClass('selected')) + { + $('.item').removeClass('selected'); + $('.item').removeAttr('id'); + $(a).parent().parent().addClass('selected'); + $(a).parent().parent().attr('id','selected'); + } + var anchor = $(aname); + gotoAnchor(anchor,aname,true); + }; + } else { + a.href = url; + a.onclick = function() { storeLink(link); } + } + } else { + if (childrenData != null) + { + a.className = "nolink"; + a.href = "javascript:void(0)"; + a.onclick = node.expandToggle.onclick; + } + } + + node.childrenUL = null; + node.getChildrenUL = function() { + if (!node.childrenUL) { + node.childrenUL = document.createElement("ul"); + node.childrenUL.className = "children_ul"; + node.childrenUL.style.display = "none"; + node.li.appendChild(node.childrenUL); + } + return node.childrenUL; + }; + + return node; +} + +function showRoot() +{ + var headerHeight = $("#top").height(); + var footerHeight = $("#nav-path").height(); + var windowHeight = $(window).height() - headerHeight - footerHeight; + (function (){ // retry until we can scroll to the selected item + try { + var navtree=$('#nav-tree'); + navtree.scrollTo('#selected',100,{offset:-windowHeight/2}); + } catch (err) { + setTimeout(arguments.callee, 0); + } + })(); +} + +function expandNode(o, node, imm, showRoot) +{ + if (node.childrenData && !node.expanded) { + if (typeof(node.childrenData)==='string') { + var varName = node.childrenData; + getScript(node.relpath+varName,function(){ + node.childrenData = getData(varName); + expandNode(o, node, imm, showRoot); + }, showRoot); + } else { + if (!node.childrenVisited) { + getNode(o, node); + } + $(node.getChildrenUL()).slideDown("fast"); + node.plus_img.innerHTML = arrowDown; + node.expanded = true; + } + } +} + +function glowEffect(n,duration) +{ + n.addClass('glow').delay(duration).queue(function(next){ + $(this).removeClass('glow');next(); + }); +} + +function highlightAnchor() +{ + var aname = hashUrl(); + var anchor = $(aname); + if (anchor.parent().attr('class')=='memItemLeft'){ + var rows = $('.memberdecls tr[class$="'+hashValue()+'"]'); + glowEffect(rows.children(),300); // member without details + } else if (anchor.parent().attr('class')=='fieldname'){ + glowEffect(anchor.parent().parent(),1000); // enum value + } else if (anchor.parent().attr('class')=='fieldtype'){ + glowEffect(anchor.parent().parent(),1000); // struct field + } else if (anchor.parent().is(":header")) { + glowEffect(anchor.parent(),1000); // section header + } else { + glowEffect(anchor.next(),1000); // normal member + } +} + +function selectAndHighlight(hash,n) +{ + var a; + if (hash) { + var link=stripPath(pathName())+':'+hash.substring(1); + a=$('.item a[class$="'+link+'"]'); + } + if (a && a.length) { + a.parent().parent().addClass('selected'); + a.parent().parent().attr('id','selected'); + highlightAnchor(); + } else if (n) { + $(n.itemDiv).addClass('selected'); + $(n.itemDiv).attr('id','selected'); + } + var topOffset=5; + if (typeof page_layout!=='undefined' && page_layout==1) { + topOffset+=$('#top').outerHeight(); + } + if ($('#nav-tree-contents .item:first').hasClass('selected')) { + topOffset+=25; + } + $('#nav-sync').css('top',topOffset+'px'); + showRoot(); +} + +function showNode(o, node, index, hash) +{ + if (node && node.childrenData) { + if (typeof(node.childrenData)==='string') { + var varName = node.childrenData; + getScript(node.relpath+varName,function(){ + node.childrenData = getData(varName); + showNode(o,node,index,hash); + },true); + } else { + if (!node.childrenVisited) { + getNode(o, node); + } + $(node.getChildrenUL()).css({'display':'block'}); + node.plus_img.innerHTML = arrowDown; + node.expanded = true; + var n = node.children[o.breadcrumbs[index]]; + if (index+11) hash = '#'+parts[1].replace(/[^\w\-]/g,''); + else hash=''; + } + if (hash.match(/^#l\d+$/)) { + var anchor=$('a[name='+hash.substring(1)+']'); + glowEffect(anchor.parent(),1000); // line number + hash=''; // strip line number anchors + } + var url=root+hash; + var i=-1; + while (NAVTREEINDEX[i+1]<=url) i++; + if (i==-1) { i=0; root=NAVTREE[0][1]; } // fallback: show index + if (navTreeSubIndices[i]) { + gotoNode(o,i,root,hash,relpath) + } else { + getScript(relpath+'navtreeindex'+i,function(){ + navTreeSubIndices[i] = eval('NAVTREEINDEX'+i); + if (navTreeSubIndices[i]) { + gotoNode(o,i,root,hash,relpath); + } + },true); + } +} + +function showSyncOff(n,relpath) +{ + n.html(''); +} + +function showSyncOn(n,relpath) +{ + n.html(''); +} + +function toggleSyncButton(relpath) +{ + var navSync = $('#nav-sync'); + if (navSync.hasClass('sync')) { + navSync.removeClass('sync'); + showSyncOff(navSync,relpath); + storeLink(stripPath2(pathName())+hashUrl()); + } else { + navSync.addClass('sync'); + showSyncOn(navSync,relpath); + deleteLink(); + } +} + +var loadTriggered = false; +var readyTriggered = false; +var loadObject,loadToRoot,loadUrl,loadRelPath; + +$(window).on('load',function(){ + if (readyTriggered) { // ready first + navTo(loadObject,loadToRoot,loadUrl,loadRelPath); + showRoot(); + } + loadTriggered=true; +}); + +function initNavTree(toroot,relpath) +{ + var o = new Object(); + o.toroot = toroot; + o.node = new Object(); + o.node.li = document.getElementById("nav-tree-contents"); + o.node.childrenData = NAVTREE; + o.node.children = new Array(); + o.node.childrenUL = document.createElement("ul"); + o.node.getChildrenUL = function() { return o.node.childrenUL; }; + o.node.li.appendChild(o.node.childrenUL); + o.node.depth = 0; + o.node.relpath = relpath; + o.node.expanded = false; + o.node.isLast = true; + o.node.plus_img = document.createElement("span"); + o.node.plus_img.className = 'arrow'; + o.node.plus_img.innerHTML = arrowRight; + + if (localStorageSupported()) { + var navSync = $('#nav-sync'); + if (cachedLink()) { + showSyncOff(navSync,relpath); + navSync.removeClass('sync'); + } else { + showSyncOn(navSync,relpath); + } + navSync.click(function(){ toggleSyncButton(relpath); }); + } + + if (loadTriggered) { // load before ready + navTo(o,toroot,hashUrl(),relpath); + showRoot(); + } else { // ready before load + loadObject = o; + loadToRoot = toroot; + loadUrl = hashUrl(); + loadRelPath = relpath; + readyTriggered=true; + } + + $(window).bind('hashchange', function(){ + if (window.location.hash && window.location.hash.length>1){ + var a; + if ($(location).attr('hash')){ + var clslink=stripPath(pathName())+':'+hashValue(); + a=$('.item a[class$="'+clslink.replace(/Check the Wiki", "index.html#autotoc_md3", null ] + ] ], + [ "How to build manually:", "index.html#autotoc_md4", null ] + ] ], + [ "Classes", "annotated.html", [ + [ "Class List", "annotated.html", "annotated_dup" ], + [ "Class Index", "classes.html", null ], + [ "Class Hierarchy", 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+ background-color: var(--search-filter-background-color); + z-index: 10001; + padding-top: 4px; + padding-bottom: 4px; + -moz-border-radius: 4px; + -webkit-border-top-left-radius: 4px; + -webkit-border-top-right-radius: 4px; + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +.SelectItem { + font: 8pt var(--font-family-search); + padding-left: 2px; + padding-right: 12px; + border: 0px; +} + +span.SelectionMark { + margin-right: 4px; + font-family: var(--font-family-monospace); + outline-style: none; + text-decoration: none; +} + +a.SelectItem { + display: block; + outline-style: none; + color: var(--search-filter-foreground-color); + text-decoration: none; + padding-left: 6px; + padding-right: 12px; +} + +a.SelectItem:focus, +a.SelectItem:active { + color: var(--search-filter-foreground-color); + outline-style: none; + text-decoration: none; +} + +a.SelectItem:hover { + color: var(--search-filter-highlight-text-color); + background-color: var(--search-filter-highlight-bg-color); + outline-style: none; + text-decoration: none; + cursor: pointer; + display: block; +} + +/*---------------- Search results window */ + +iframe#MSearchResults { + /*width: 60ex;*/ + height: 15em; +} + +#MSearchResultsWindow { + display: none; + position: absolute; + left: 0; top: 0; + border: 1px solid var(--search-results-border-color); + background-color: var(--search-results-background-color); + z-index:10000; + width: 300px; + height: 400px; + overflow: auto; +} + +/* ----------------------------------- */ + + +#SRIndex { + clear:both; +} + +.SREntry { + font-size: 10pt; + padding-left: 1ex; +} + +.SRPage .SREntry { + font-size: 8pt; + padding: 1px 5px; +} + +div.SRPage { + margin: 5px 2px; + background-color: var(--search-results-background-color); +} + +.SRChildren { + padding-left: 3ex; padding-bottom: .5em +} + +.SRPage .SRChildren { + display: none; +} + +.SRSymbol { + font-weight: bold; + color: var(--search-results-foreground-color); + font-family: var(--font-family-search); + text-decoration: none; + outline: none; +} + +a.SRScope { + display: block; + color: var(--search-results-foreground-color); + font-family: var(--font-family-search); + font-size: 8pt; + text-decoration: none; + outline: none; +} + +a.SRSymbol:focus, a.SRSymbol:active, +a.SRScope:focus, a.SRScope:active { + text-decoration: underline; +} + +span.SRScope { + padding-left: 4px; + font-family: var(--font-family-search); +} + +.SRPage .SRStatus { + padding: 2px 5px; + font-size: 8pt; + font-style: italic; + font-family: var(--font-family-search); +} + +.SRResult { + display: none; +} + +div.searchresults { + margin-left: 10px; + margin-right: 10px; +} + +/*---------------- External search page results */ + +.pages b { + color: white; + padding: 5px 5px 3px 5px; + background-image: var(--nav-gradient-active-image-parent); + background-repeat: repeat-x; + text-shadow: 0 1px 1px #000000; +} + +.pages { + line-height: 17px; + margin-left: 4px; + text-decoration: none; +} + +.hl { + font-weight: bold; +} + +#searchresults { + margin-bottom: 20px; +} + +.searchpages { + margin-top: 10px; +} + diff --git a/docs/cpp/search/search.js b/docs/cpp/search/search.js new file mode 100644 index 00000000..e103a262 --- /dev/null +++ b/docs/cpp/search/search.js @@ -0,0 +1,816 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function convertToId(search) +{ + var result = ''; + for (i=0;i do a search + { + this.Search(); + } + } + + this.OnSearchSelectKey = function(evt) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==40 && this.searchIndex0) // Up + { + this.searchIndex--; + this.OnSelectItem(this.searchIndex); + } + else if (e.keyCode==13 || e.keyCode==27) + { + this.OnSelectItem(this.searchIndex); + this.CloseSelectionWindow(); + this.DOMSearchField().focus(); + } + return false; + } + + // --------- Actions + + // Closes the results window. + this.CloseResultsWindow = function() + { + this.DOMPopupSearchResultsWindow().style.display = 'none'; + this.DOMSearchClose().style.display = 'none'; + this.Activate(false); + } + + this.CloseSelectionWindow = function() + { + this.DOMSearchSelectWindow().style.display = 'none'; + } + + // Performs a search. + this.Search = function() + { + this.keyTimeout = 0; + + // strip leading whitespace + var searchValue = this.DOMSearchField().value.replace(/^ +/, ""); + + var code = searchValue.toLowerCase().charCodeAt(0); + var idxChar = searchValue.substr(0, 1).toLowerCase(); + if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair + { + idxChar = searchValue.substr(0, 2); + } + + var jsFile; + + var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar); + if (idx!=-1) + { + var hexCode=idx.toString(16); + jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js'; + } + + var loadJS = function(url, impl, loc){ + var scriptTag = document.createElement('script'); + scriptTag.src = url; + scriptTag.onload = impl; + scriptTag.onreadystatechange = impl; + loc.appendChild(scriptTag); + } + + var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow(); + var domSearchBox = this.DOMSearchBox(); + var domPopupSearchResults = this.DOMPopupSearchResults(); + var domSearchClose = this.DOMSearchClose(); + var resultsPath = this.resultsPath; + + var handleResults = function() { + document.getElementById("Loading").style.display="none"; + if (typeof searchData !== 'undefined') { + createResults(resultsPath); + document.getElementById("NoMatches").style.display="none"; + } + + searchResults.Search(searchValue); + + if (domPopupSearchResultsWindow.style.display!='block') + { + domSearchClose.style.display = 'inline-block'; + var left = getXPos(domSearchBox) + 150; + var top = getYPos(domSearchBox) + 20; + domPopupSearchResultsWindow.style.display = 'block'; + left -= domPopupSearchResults.offsetWidth; + var maxWidth = document.body.clientWidth; + var maxHeight = document.body.clientHeight; + var width = 300; + if (left<10) left=10; + if (width+left+8>maxWidth) width=maxWidth-left-8; + var height = 400; + if (height+top+8>maxHeight) height=maxHeight-top-8; + domPopupSearchResultsWindow.style.top = top + 'px'; + domPopupSearchResultsWindow.style.left = left + 'px'; + domPopupSearchResultsWindow.style.width = width + 'px'; + domPopupSearchResultsWindow.style.height = height + 'px'; + } + } + + if (jsFile) { + loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow()); + } else { + handleResults(); + } + + this.lastSearchValue = searchValue; + } + + // -------- Activation Functions + + // Activates or deactivates the search panel, resetting things to + // their default values if necessary. + this.Activate = function(isActive) + { + if (isActive || // open it + this.DOMPopupSearchResultsWindow().style.display == 'block' + ) + { + this.DOMSearchBox().className = 'MSearchBoxActive'; + this.searchActive = true; + } + else if (!isActive) // directly remove the panel + { + this.DOMSearchBox().className = 'MSearchBoxInactive'; + this.searchActive = false; + this.lastSearchValue = '' + this.lastResultsPage = ''; + this.DOMSearchField().value = ''; + } + } +} + +// ----------------------------------------------------------------------- + +// The class that handles everything on the search results page. +function SearchResults(name) +{ + // The number of matches from the last run of . + this.lastMatchCount = 0; + this.lastKey = 0; + this.repeatOn = false; + + // Toggles the visibility of the passed element ID. + this.FindChildElement = function(id) + { + var parentElement = document.getElementById(id); + var element = parentElement.firstChild; + + while (element && element!=parentElement) + { + if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren') + { + return element; + } + + if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes()) + { + element = element.firstChild; + } + else if (element.nextSibling) + { + element = element.nextSibling; + } + else + { + do + { + element = element.parentNode; + } + while (element && element!=parentElement && !element.nextSibling); + + if (element && element!=parentElement) + { + element = element.nextSibling; + } + } + } + } + + this.Toggle = function(id) + { + var element = this.FindChildElement(id); + if (element) + { + if (element.style.display == 'block') + { + element.style.display = 'none'; + } + else + { + element.style.display = 'block'; + } + } + } + + // Searches for the passed string. If there is no parameter, + // it takes it from the URL query. + // + // Always returns true, since other documents may try to call it + // and that may or may not be possible. + this.Search = function(search) + { + if (!search) // get search word from URL + { + search = window.location.search; + search = search.substring(1); // Remove the leading '?' + search = unescape(search); + } + + search = search.replace(/^ +/, ""); // strip leading spaces + search = search.replace(/ +$/, ""); // strip trailing spaces + search = search.toLowerCase(); + search = convertToId(search); + + var resultRows = document.getElementsByTagName("div"); + var matches = 0; + + var i = 0; + while (i < resultRows.length) + { + var row = resultRows.item(i); + if (row.className == "SRResult") + { + var rowMatchName = row.id.toLowerCase(); + rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_' + + if (search.length<=rowMatchName.length && + rowMatchName.substr(0, search.length)==search) + { + row.style.display = 'block'; + matches++; + } + else + { + row.style.display = 'none'; + } + } + i++; + } + document.getElementById("Searching").style.display='none'; + if (matches == 0) // no results + { + document.getElementById("NoMatches").style.display='block'; + } + else // at least one result + { + document.getElementById("NoMatches").style.display='none'; + } + this.lastMatchCount = matches; + return true; + } + + // return the first item with index index or higher that is visible + this.NavNext = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index++; + } + return focusItem; + } + + this.NavPrev = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index--; + } + return focusItem; + } + + this.ProcessKeys = function(e) + { + if (e.type == "keydown") + { + this.repeatOn = false; + this.lastKey = e.keyCode; + } + else if (e.type == "keypress") + { + if (!this.repeatOn) + { + if (this.lastKey) this.repeatOn = true; + return false; // ignore first keypress after keydown + } + } + else if (e.type == "keyup") + { + this.lastKey = 0; + this.repeatOn = false; + } + return this.lastKey!=0; + } + + this.Nav = function(evt,itemIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + var newIndex = itemIndex-1; + var focusItem = this.NavPrev(newIndex); + if (focusItem) + { + var child = this.FindChildElement(focusItem.parentNode.parentNode.id); + if (child && child.style.display == 'block') // children visible + { + var n=0; + var tmpElem; + while (1) // search for last child + { + tmpElem = document.getElementById('Item'+newIndex+'_c'+n); + if (tmpElem) + { + focusItem = tmpElem; + } + else // found it! + { + break; + } + n++; + } + } + } + if (focusItem) + { + focusItem.focus(); + } + else // return focus to search field + { + document.getElementById("MSearchField").focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = itemIndex+1; + var focusItem; + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem && elem.style.display == 'block') // children visible + { + focusItem = document.getElementById('Item'+itemIndex+'_c0'); + } + if (!focusItem) focusItem = this.NavNext(newIndex); + if (focusItem) focusItem.focus(); + } + else if (this.lastKey==39) // Right + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'block'; + } + else if (this.lastKey==37) // Left + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'none'; + } + else if (this.lastKey==27) // Escape + { + searchBox.CloseResultsWindow(); + document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } + + this.NavChild = function(evt,itemIndex,childIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + if (childIndex>0) + { + var newIndex = childIndex-1; + document.getElementById('Item'+itemIndex+'_c'+newIndex).focus(); + } + else // already at first child, jump to parent + { + document.getElementById('Item'+itemIndex).focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = childIndex+1; + var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex); + if (!elem) // last child, jump to parent next parent + { + elem = this.NavNext(itemIndex+1); + } + if (elem) + { + elem.focus(); + } + } + else if (this.lastKey==27) // Escape + { + searchBox.CloseResultsWindow(); + document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } +} + +function setKeyActions(elem,action) +{ + elem.setAttribute('onkeydown',action); + elem.setAttribute('onkeypress',action); + elem.setAttribute('onkeyup',action); +} + +function setClassAttr(elem,attr) +{ + elem.setAttribute('class',attr); + elem.setAttribute('className',attr); +} + +function createResults(resultsPath) +{ + var results = document.getElementById("SRResults"); + results.innerHTML = ''; + for (var e=0; e + + + + + + +PathPlannerLib: Member List + + + + + + + + + + + + + + +
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    std::hash< pathplanner::ADStar::GridPosition > Member List
    +
    +
    + +

    This is the complete list of members for std::hash< pathplanner::ADStar::GridPosition >, including all inherited members.

    + + +
    operator()(const pathplanner::ADStar::GridPosition &gridPos) const (defined in std::hash< pathplanner::ADStar::GridPosition >)std::hash< pathplanner::ADStar::GridPosition >inline
    +
    + + + + diff --git a/docs/cpp/structstd_1_1hash_3_01pathplanner_1_1ADStar_1_1GridPosition_01_4.html b/docs/cpp/structstd_1_1hash_3_01pathplanner_1_1ADStar_1_1GridPosition_01_4.html new file mode 100644 index 00000000..420946d7 --- /dev/null +++ b/docs/cpp/structstd_1_1hash_3_01pathplanner_1_1ADStar_1_1GridPosition_01_4.html @@ -0,0 +1,119 @@ + + + + + + + +PathPlannerLib: std::hash< pathplanner::ADStar::GridPosition > Struct Reference + + + + + + + + + + + + + + +
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    +Public Member Functions | +List of all members
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    std::hash< pathplanner::ADStar::GridPosition > Struct Reference
    +
    +
    + + + + +

    +Public Member Functions

    +size_t operator() (const pathplanner::ADStar::GridPosition &gridPos) const
     
    +
    The documentation for this struct was generated from the following file:
      +
    • src/main/native/include/pathplanner/lib/pathfinding/ADStar.h
      • +
    +
    +
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ul a{padding:10px 20px}.sm-dox.sm-vertical ul a:hover,.sm-dox.sm-vertical ul a:focus,.sm-dox.sm-vertical ul a:active,.sm-dox.sm-vertical ul a.highlighted{background:#eee}.sm-dox.sm-vertical ul a.disabled{background:var(--nav-menu-background-color)}} \ No newline at end of file diff --git a/docs/java/allclasses-index.html b/docs/java/allclasses-index.html new file mode 100644 index 00000000..0290500c --- /dev/null +++ b/docs/java/allclasses-index.html @@ -0,0 +1,416 @@ + + + + + +All Classes (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    All Classes

    +
    +
    + +
    +
    +
    + +
    + + diff --git a/docs/java/allclasses.html b/docs/java/allclasses.html new file mode 100644 index 00000000..2f4f869f --- /dev/null +++ b/docs/java/allclasses.html @@ -0,0 +1,71 @@ + + + + + +All Classes (pathplannerlib API) + + + + + + + + + + + + +
    +

    All Classes

    +
    + +
    +
    + + diff --git a/docs/java/allpackages-index.html b/docs/java/allpackages-index.html new file mode 100644 index 00000000..dc8b489f --- /dev/null +++ b/docs/java/allpackages-index.html @@ -0,0 +1,184 @@ + + + + + +All Packages (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    All Packages

    +
    +
    + +
    +
    +
    + +
    + + diff --git a/docs/java/com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html b/docs/java/com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html new file mode 100644 index 00000000..3d3865d8 --- /dev/null +++ b/docs/java/com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html @@ -0,0 +1,278 @@ + + + + + +AutoBuilder.QuadFunction (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.auto
    +

    Interface AutoBuilder.QuadFunction<In1,​In2,​In3,​In4,​Out>

    +
    +
    +
    +
      +
    • +
      +
      Enclosing class:
      +
      AutoBuilder
      +
      +
      +
      Functional Interface:
      +
      This is a functional interface and can therefore be used as the assignment target for a lambda expression or method reference.
      +
      +
      +
      @FunctionalInterface
+public static interface AutoBuilder.QuadFunction<In1,​In2,​In3,​In4,​Out>
      +
      Functional interface for a function that takes 4 inputs
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Method Detail

        + + + + + +
          +
        • +

          apply

          +
          Out apply​(In1 in1,
+          In2 in2,
+          In3 in3,
+          In4 in4)
          +
          Apply the inputs to this function
          +
          +
          Parameters:
          +
          in1 - Input 1
          +
          in2 - Input 2
          +
          in3 - Input 3
          +
          in4 - Input 4
          +
          Returns:
          +
          Output
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + +
    + +
    + + diff --git a/docs/java/com/pathplanner/lib/auto/AutoBuilder.TriFunction.html b/docs/java/com/pathplanner/lib/auto/AutoBuilder.TriFunction.html new file mode 100644 index 00000000..e037cdc1 --- /dev/null +++ b/docs/java/com/pathplanner/lib/auto/AutoBuilder.TriFunction.html @@ -0,0 +1,275 @@ + + + + + +AutoBuilder.TriFunction (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.auto
    +

    Interface AutoBuilder.TriFunction<In1,​In2,​In3,​Out>

    +
    +
    +
    +
      +
    • +
      +
      Enclosing class:
      +
      AutoBuilder
      +
      +
      +
      Functional Interface:
      +
      This is a functional interface and can therefore be used as the assignment target for a lambda expression or method reference.
      +
      +
      +
      @FunctionalInterface
+public static interface AutoBuilder.TriFunction<In1,​In2,​In3,​Out>
      +
      Functional interface for a function that takes 3 inputs
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Method Detail

        + + + + + +
          +
        • +

          apply

          +
          Out apply​(In1 in1,
+          In2 in2,
+          In3 in3)
          +
          Apply the inputs to this function
          +
          +
          Parameters:
          +
          in1 - Input 1
          +
          in2 - Input 2
          +
          in3 - Input 3
          +
          Returns:
          +
          Output
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + +
    + +
    + + diff --git a/docs/java/com/pathplanner/lib/auto/AutoBuilder.html b/docs/java/com/pathplanner/lib/auto/AutoBuilder.html new file mode 100644 index 00000000..a5362d0d --- /dev/null +++ b/docs/java/com/pathplanner/lib/auto/AutoBuilder.html @@ -0,0 +1,853 @@ + + + + + +AutoBuilder (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.auto
    +

    Class AutoBuilder

    +
    +
    + +
    +
      +
    • +
      +
      public class AutoBuilder
+extends Object
      +
      Utility class used to build auto routines
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          AutoBuilder

          +
          public AutoBuilder()
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          configureHolonomic

          +
          public static void configureHolonomic​(Supplier<Pose2d> poseSupplier,
+                                      Consumer<Pose2d> resetPose,
+                                      Supplier<ChassisSpeeds> robotRelativeSpeedsSupplier,
+                                      Consumer<ChassisSpeeds> robotRelativeOutput,
+                                      HolonomicPathFollowerConfig config,
+                                      Subsystem driveSubsystem)
          +
          Configures the AutoBuilder for a holonomic drivetrain.
          +
          +
          Parameters:
          +
          poseSupplier - a supplier for the robot's current pose
          +
          resetPose - a consumer for resetting the robot's pose
          +
          robotRelativeSpeedsSupplier - a supplier for the robot's current robot relative chassis + speeds
          +
          robotRelativeOutput - a consumer for setting the robot's field-relative chassis speeds
          +
          config - HolonomicPathFollowerConfig for configuring the + path following commands
          +
          driveSubsystem - the subsystem for the robot's drive
          +
          Throws:
          +
          AutoBuilderException - if AutoBuilder has already been configured
          +
          +
          • +
        + + + +
          +
        • +

          configureRamsete

          +
          public static void configureRamsete​(Supplier<Pose2d> poseSupplier,
+                                    Consumer<Pose2d> resetPose,
+                                    Supplier<ChassisSpeeds> speedsSupplier,
+                                    Consumer<ChassisSpeeds> output,
+                                    ReplanningConfig replanningConfig,
+                                    Subsystem driveSubsystem)
          +
          Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.
          +
          +
          Parameters:
          +
          poseSupplier - a supplier for the robot's current pose
          +
          resetPose - a consumer for resetting the robot's pose
          +
          speedsSupplier - a supplier for the robot's current chassis speeds
          +
          output - a consumer for setting the robot's chassis speeds
          +
          replanningConfig - Path replanning configuration
          +
          driveSubsystem - the subsystem for the robot's drive
          +
          Throws:
          +
          AutoBuilderException - if AutoBuilder has already been configured
          +
          +
          • +
        + + + +
          +
        • +

          configureRamsete

          +
          public static void configureRamsete​(Supplier<Pose2d> poseSupplier,
+                                    Consumer<Pose2d> resetPose,
+                                    Supplier<ChassisSpeeds> speedsSupplier,
+                                    Consumer<ChassisSpeeds> output,
+                                    double b,
+                                    double zeta,
+                                    ReplanningConfig replanningConfig,
+                                    Subsystem driveSubsystem)
          +
          Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.
          +
          +
          Parameters:
          +
          poseSupplier - a supplier for the robot's current pose
          +
          resetPose - a consumer for resetting the robot's pose
          +
          speedsSupplier - a supplier for the robot's current chassis speeds
          +
          output - a consumer for setting the robot's chassis speeds
          +
          b - Tuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more + aggressive like a proportional term.
          +
          zeta - Tuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide + more damping in response.
          +
          replanningConfig - Path replanning configuration
          +
          driveSubsystem - the subsystem for the robot's drive
          +
          Throws:
          +
          AutoBuilderException - if AutoBuilder has already been configured
          +
          +
          • +
        + + + +
          +
        • +

          configureLTV

          +
          public static void configureLTV​(Supplier<Pose2d> poseSupplier,
+                                Consumer<Pose2d> resetPose,
+                                Supplier<ChassisSpeeds> speedsSupplier,
+                                Consumer<ChassisSpeeds> output,
+                                double dt,
+                                ReplanningConfig replanningConfig,
+                                Subsystem driveSubsystem)
          +
          Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path + follower.
          +
          +
          Parameters:
          +
          poseSupplier - a supplier for the robot's current pose
          +
          resetPose - a consumer for resetting the robot's pose
          +
          speedsSupplier - a supplier for the robot's current chassis speeds
          +
          output - a consumer for setting the robot's chassis speeds
          +
          dt - Period of the robot control loop in seconds (default 0.02)
          +
          replanningConfig - Path replanning configuration
          +
          driveSubsystem - the subsystem for the robot's drive
          +
          Throws:
          +
          AutoBuilderException - if AutoBuilder has already been configured
          +
          +
          • +
        + + + +
          +
        • +

          configureLTV

          +
          public static void configureLTV​(Supplier<Pose2d> poseSupplier,
+                                Consumer<Pose2d> resetPose,
+                                Supplier<ChassisSpeeds> speedsSupplier,
+                                Consumer<ChassisSpeeds> output,
+                                Vector<N3> qelems,
+                                Vector<N2> relems,
+                                double dt,
+                                ReplanningConfig replanningConfig,
+                                Subsystem driveSubsystem)
          +
          Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path + follower.
          +
          +
          Parameters:
          +
          poseSupplier - a supplier for the robot's current pose
          +
          resetPose - a consumer for resetting the robot's pose
          +
          speedsSupplier - a supplier for the robot's current chassis speeds
          +
          output - a consumer for setting the robot's chassis speeds
          +
          qelems - The maximum desired error tolerance for each state.
          +
          relems - The maximum desired control effort for each input.
          +
          dt - Period of the robot control loop in seconds (default 0.02)
          +
          replanningConfig - Path replanning configuration
          +
          driveSubsystem - the subsystem for the robot's drive
          +
          Throws:
          +
          AutoBuilderException - if AutoBuilder has already been configured
          +
          +
          • +
        + + + +
          +
        • +

          configureCustom

          +
          public static void configureCustom​(Function<PathPlannerPath,​Command> pathFollowingCommandBuilder,
+                                   Supplier<Pose2d> poseSupplier,
+                                   Consumer<Pose2d> resetPose)
          +
          Configures the AutoBuilder with custom path following command builder. Building pathfinding + commands is not supported if using a custom command builder.
          +
          +
          Parameters:
          +
          pathFollowingCommandBuilder - a function that builds a command to follow a given path
          +
          poseSupplier - a supplier for the robot's current pose
          +
          resetPose - a consumer for resetting the robot's pose
          +
          Throws:
          +
          AutoBuilderException - if AutoBuilder has already been configured
          +
          +
          • +
        + + + +
          +
        • +

          isConfigured

          +
          public static boolean isConfigured()
          +
          Returns whether the AutoBuilder has been configured.
          +
          +
          Returns:
          +
          true if the AutoBuilder has been configured, false otherwise
          +
          +
          • +
        + + + +
          +
        • +

          isPathfindingConfigured

          +
          public static boolean isPathfindingConfigured()
          +
          Returns whether the AutoBuilder has been configured for pathfinding.
          +
          +
          Returns:
          +
          true if the AutoBuilder has been configured for pathfinding, false otherwise
          +
          +
          • +
        + + + +
          +
        • +

          followPathWithEvents

          +
          public static Command followPathWithEvents​(PathPlannerPath path)
          +
          Builds a command to follow a path with event markers.
          +
          +
          Parameters:
          +
          path - the path to follow
          +
          Returns:
          +
          a path following command with events for the given path
          +
          Throws:
          +
          AutoBuilderException - if the AutoBuilder has not been configured
          +
          +
          • +
        + + + +
          +
        • +

          pathfindToPose

          +
          public static Command pathfindToPose​(Pose2d pose,
+                                     PathConstraints constraints,
+                                     double goalEndVelocity,
+                                     double rotationDelayDistance)
          +
          Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose + rotation and rotation delay distance will have no effect.
          +
          +
          Parameters:
          +
          pose - The pose to pathfind to
          +
          constraints - The constraints to use while pathfinding
          +
          goalEndVelocity - The goal end velocity of the robot when reaching the target pose
          +
          rotationDelayDistance - The distance the robot should move from the start position before + attempting to rotate to the final rotation
          +
          Returns:
          +
          A command to pathfind to a given pose
          +
          +
          • +
        + + + +
          +
        • +

          pathfindToPose

          +
          public static Command pathfindToPose​(Pose2d pose,
+                                     PathConstraints constraints,
+                                     double goalEndVelocity)
          +
          Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose + rotation will have no effect.
          +
          +
          Parameters:
          +
          pose - The pose to pathfind to
          +
          constraints - The constraints to use while pathfinding
          +
          goalEndVelocity - The goal end velocity of the robot when reaching the target pose
          +
          Returns:
          +
          A command to pathfind to a given pose
          +
          +
          • +
        + + + +
          +
        • +

          pathfindToPose

          +
          public static Command pathfindToPose​(Pose2d pose,
+                                     PathConstraints constraints)
          +
          Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose + rotation will have no effect.
          +
          +
          Parameters:
          +
          pose - The pose to pathfind to
          +
          constraints - The constraints to use while pathfinding
          +
          Returns:
          +
          A command to pathfind to a given pose
          +
          +
          • +
        + + + +
          +
        • +

          pathfindThenFollowPath

          +
          public static Command pathfindThenFollowPath​(PathPlannerPath goalPath,
+                                             PathConstraints pathfindingConstraints,
+                                             double rotationDelayDistance)
          +
          Build a command to pathfind to a given path, then follow that path. If not using a holonomic + drivetrain, the pose rotation delay distance will have no effect.
          +
          +
          Parameters:
          +
          goalPath - The path to pathfind to, then follow
          +
          pathfindingConstraints - The constraints to use while pathfinding
          +
          rotationDelayDistance - The distance the robot should move from the start position before + attempting to rotate to the final rotation
          +
          Returns:
          +
          A command to pathfind to a given path, then follow the path
          +
          +
          • +
        + + + +
          +
        • +

          pathfindThenFollowPath

          +
          public static Command pathfindThenFollowPath​(PathPlannerPath goalPath,
+                                             PathConstraints pathfindingConstraints)
          +
          Build a command to pathfind to a given path, then follow that path.
          +
          +
          Parameters:
          +
          goalPath - The path to pathfind to, then follow
          +
          pathfindingConstraints - The constraints to use while pathfinding
          +
          Returns:
          +
          A command to pathfind to a given path, then follow the path
          +
          +
          • +
        + + + +
          +
        • +

          getStartingPoseFromJson

          +
          public static Pose2d getStartingPoseFromJson​(org.json.simple.JSONObject startingPoseJson)
          +
          Get the starting pose from its JSON representation. This is only used internally.
          +
          +
          Parameters:
          +
          startingPoseJson - JSON object representing a starting pose.
          +
          Returns:
          +
          The Pose2d starting pose
          +
          +
          • +
        + + + +
          +
        • +

          buildAuto

          +
          public static Command buildAuto​(String autoName)
          +
          Builds an auto command for the given auto name.
          +
          +
          Parameters:
          +
          autoName - the name of the auto to build
          +
          Returns:
          +
          an auto command for the given auto name
          +
          +
          • +
        + + + +
          +
        • +

          getAutoCommandFromJson

          +
          public static Command getAutoCommandFromJson​(org.json.simple.JSONObject autoJson)
          +
          Builds an auto command from the given JSON object.
          +
          +
          Parameters:
          +
          autoJson - the JSON object to build the command from
          +
          Returns:
          +
          an auto command built from the JSON object
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/auto/AutoBuilderException.html b/docs/java/com/pathplanner/lib/auto/AutoBuilderException.html new file mode 100644 index 00000000..7cf783a8 --- /dev/null +++ b/docs/java/com/pathplanner/lib/auto/AutoBuilderException.html @@ -0,0 +1,304 @@ + + + + + +AutoBuilderException (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.auto
    +

    Class AutoBuilderException

    +
    +
    + +
    + +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          AutoBuilderException

          +
          public AutoBuilderException​(String message)
          +
          Create a new auto builder exception
          +
          +
          Parameters:
          +
          message - Error message
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + +
    + +
    + + diff --git a/docs/java/com/pathplanner/lib/auto/CommandUtil.html b/docs/java/com/pathplanner/lib/auto/CommandUtil.html new file mode 100644 index 00000000..3d9b1d85 --- /dev/null +++ b/docs/java/com/pathplanner/lib/auto/CommandUtil.html @@ -0,0 +1,340 @@ + + + + + +CommandUtil (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.auto
    +

    Class CommandUtil

    +
    +
    + +
    +
      +
    • +
      +
      public class CommandUtil
+extends Object
      +
      Utility class for building commands used in autos
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          CommandUtil

          +
          public CommandUtil()
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          wrappedEventCommand

          +
          public static Command wrappedEventCommand​(Command eventCommand)
          +
          Wraps a command with a functional command that calls the command's initialize, execute, end, + and isFinished methods. This allows a command in the event map to be reused multiple times in + different command groups
          +
          +
          Parameters:
          +
          eventCommand - the command to wrap
          +
          Returns:
          +
          a functional command that wraps the given command
          +
          +
          • +
        + + + +
          +
        • +

          commandFromJson

          +
          public static Command commandFromJson​(org.json.simple.JSONObject commandJson)
          +
          Builds a command from the given JSON object.
          +
          +
          Parameters:
          +
          commandJson - the JSON object to build the command from
          +
          Returns:
          +
          a command built from the JSON object
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/auto/NamedCommands.html b/docs/java/com/pathplanner/lib/auto/NamedCommands.html new file mode 100644 index 00000000..222a7f00 --- /dev/null +++ b/docs/java/com/pathplanner/lib/auto/NamedCommands.html @@ -0,0 +1,404 @@ + + + + + +NamedCommands (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.auto
    +

    Class NamedCommands

    +
    +
    + +
    +
      +
    • +
      +
      public class NamedCommands
+extends Object
      +
      Utility class for managing named commands
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          NamedCommands

          +
          public NamedCommands()
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          registerCommand

          +
          public static void registerCommand​(String name,
+                                   Command command)
          +
          Registers a command with the given name.
          +
          +
          Parameters:
          +
          name - the name of the command
          +
          command - the command to register
          +
          +
          • +
        + + + +
          +
        • +

          registerCommands

          +
          public static void registerCommands​(List<Pair<String,​Command>> commands)
          +
          Registers a list of commands with their associated names.
          +
          +
          Parameters:
          +
          commands - the list of commands to register
          +
          +
          • +
        + + + +
          +
        • +

          registerCommands

          +
          public static void registerCommands​(Map<String,​Command> commands)
          +
          Registers a map of commands with their associated names.
          +
          +
          Parameters:
          +
          commands - the map of commands to register
          +
          +
          • +
        + + + +
          +
        • +

          hasCommand

          +
          public static boolean hasCommand​(String name)
          +
          Returns whether a command with the given name has been registered.
          +
          +
          Parameters:
          +
          name - the name of the command to check
          +
          Returns:
          +
          true if a command with the given name has been registered, false otherwise
          +
          +
          • +
        + + + +
          +
        • +

          getCommand

          +
          public static Command getCommand​(String name)
          +
          Returns the command with the given name.
          +
          +
          Parameters:
          +
          name - the name of the command to get
          +
          Returns:
          +
          the command with the given name, wrapped in a functional command, or a none command if + it has not been registered
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/auto/package-summary.html b/docs/java/com/pathplanner/lib/auto/package-summary.html new file mode 100644 index 00000000..d6a666c8 --- /dev/null +++ b/docs/java/com/pathplanner/lib/auto/package-summary.html @@ -0,0 +1,218 @@ + + + + + +com.pathplanner.lib.auto (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Package com.pathplanner.lib.auto

    +
    +
    +
      +
    • + + + + + + + + + + + + + + + + +
      Interface Summary 
      InterfaceDescription
      AutoBuilder.QuadFunction<In1,​In2,​In3,​In4,​Out> +
      Functional interface for a function that takes 4 inputs
      +
      AutoBuilder.TriFunction<In1,​In2,​In3,​Out> +
      Functional interface for a function that takes 3 inputs
      +
      +
      • +
    • + + + + + + + + + + + + + + + + + + + + +
      Class Summary 
      ClassDescription
      AutoBuilder +
      Utility class used to build auto routines
      +
      CommandUtil +
      Utility class for building commands used in autos
      +
      NamedCommands +
      Utility class for managing named commands
      +
      +
      • +
    • + + + + + + + + + + + + +
      Exception Summary 
      ExceptionDescription
      AutoBuilderException +
      An exception while building autos
      +
      +
      • +
    +
    +
    +
    + +
    + + diff --git a/docs/java/com/pathplanner/lib/auto/package-tree.html b/docs/java/com/pathplanner/lib/auto/package-tree.html new file mode 100644 index 00000000..80f3197e --- /dev/null +++ b/docs/java/com/pathplanner/lib/auto/package-tree.html @@ -0,0 +1,183 @@ + + + + + +com.pathplanner.lib.auto Class Hierarchy (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Hierarchy For Package com.pathplanner.lib.auto

    +Package Hierarchies: + +
    +
    +
    +

    Class Hierarchy

    + +
    +
    +

    Interface Hierarchy

    + +
    +
    +
    + + + diff --git a/docs/java/com/pathplanner/lib/commands/FollowPathCommand.html b/docs/java/com/pathplanner/lib/commands/FollowPathCommand.html new file mode 100644 index 00000000..030ef304 --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/FollowPathCommand.html @@ -0,0 +1,443 @@ + + + + + +FollowPathCommand (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class FollowPathCommand

    +
    +
    + +
    + +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          FollowPathCommand

          +
          public FollowPathCommand​(PathPlannerPath path,
+                         Supplier<Pose2d> poseSupplier,
+                         Supplier<ChassisSpeeds> speedsSupplier,
+                         Consumer<ChassisSpeeds> outputRobotRelative,
+                         PathFollowingController controller,
+                         ReplanningConfig replanningConfig,
+                         Subsystem... requirements)
          +
          Construct a base path following command
          +
          +
          Parameters:
          +
          path - The path to follow
          +
          poseSupplier - Function that supplies the current field-relative pose of the robot
          +
          speedsSupplier - Function that supplies the current robot-relative chassis speeds
          +
          outputRobotRelative - Function that will apply the robot-relative output speeds of this + command
          +
          controller - Path following controller that will be used to follow the path
          +
          replanningConfig - Path replanning configuration
          +
          requirements - Subsystems required by this command, usually just the drive subsystem
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          initialize

          +
          public void initialize()
          +
          +
          Overrides:
          +
          initialize in class Command
          +
          +
          • +
        + + + +
          +
        • +

          execute

          +
          public void execute()
          +
          +
          Overrides:
          +
          execute in class Command
          +
          +
          • +
        + + + +
          +
        • +

          isFinished

          +
          public boolean isFinished()
          +
          +
          Overrides:
          +
          isFinished in class Command
          +
          +
          • +
        + + + +
          +
        • +

          end

          +
          public void end​(boolean interrupted)
          +
          +
          Overrides:
          +
          end in class Command
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/FollowPathHolonomic.html b/docs/java/com/pathplanner/lib/commands/FollowPathHolonomic.html new file mode 100644 index 00000000..d172a62d --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/FollowPathHolonomic.html @@ -0,0 +1,461 @@ + + + + + +FollowPathHolonomic (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class FollowPathHolonomic

    +
    +
    + +
    +
      +
    • +
      +
      All Implemented Interfaces:
      +
      Sendable
      +
      +
      +
      public class FollowPathHolonomic
+extends FollowPathCommand
      +
      Follow a path using a PPHolonomicDriveController
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          FollowPathHolonomic

          +
          public FollowPathHolonomic​(PathPlannerPath path,
+                           Supplier<Pose2d> poseSupplier,
+                           Supplier<ChassisSpeeds> speedsSupplier,
+                           Consumer<ChassisSpeeds> outputRobotRelative,
+                           PIDConstants translationConstants,
+                           PIDConstants rotationConstants,
+                           double maxModuleSpeed,
+                           double driveBaseRadius,
+                           double period,
+                           ReplanningConfig replanningConfig,
+                           Subsystem... requirements)
          +
          Construct a path following command that will use a holonomic drive controller for holonomic + drive trains
          +
          +
          Parameters:
          +
          path - The path to follow
          +
          poseSupplier - Function that supplies the current field-relative pose of the robot
          +
          speedsSupplier - Function that supplies the current robot-relative chassis speeds
          +
          outputRobotRelative - Function that will apply the robot-relative output speeds of this + command
          +
          translationConstants - PID constants for the translation PID controllers
          +
          rotationConstants - PID constants for the rotation controller
          +
          maxModuleSpeed - The max speed of a drive module in meters/sec
          +
          driveBaseRadius - The radius of the drive base in meters. For swerve drive, this is the + distance from the center of the robot to the furthest module. For mecanum, this is the + drive base width / 2
          +
          period - Period of the control loop in seconds, default is 0.02s
          +
          replanningConfig - Path replanning configuration
          +
          requirements - Subsystems required by this command, usually just the drive subsystem
          +
          +
          • +
        + + + +
          +
        • +

          FollowPathHolonomic

          +
          public FollowPathHolonomic​(PathPlannerPath path,
+                           Supplier<Pose2d> poseSupplier,
+                           Supplier<ChassisSpeeds> speedsSupplier,
+                           Consumer<ChassisSpeeds> outputRobotRelative,
+                           PIDConstants translationConstants,
+                           PIDConstants rotationConstants,
+                           double maxModuleSpeed,
+                           double driveBaseRadius,
+                           ReplanningConfig replanningConfig,
+                           Subsystem... requirements)
          +
          Construct a path following command that will use a holonomic drive controller for holonomic + drive trains
          +
          +
          Parameters:
          +
          path - The path to follow
          +
          poseSupplier - Function that supplies the current field-relative pose of the robot
          +
          speedsSupplier - Function that supplies the current robot-relative chassis speeds
          +
          outputRobotRelative - Function that will apply the robot-relative output speeds of this + command
          +
          translationConstants - PID constants for the translation PID controllers
          +
          rotationConstants - PID constants for the rotation controller
          +
          maxModuleSpeed - The max speed of a drive module in meters/sec
          +
          driveBaseRadius - The radius of the drive base in meters. For swerve drive, this is the + distance from the center of the robot to the furthest module. For mecanum, this is the + drive base width / 2
          +
          replanningConfig - Path replanning configuration
          +
          requirements - Subsystems required by this command, usually just the drive subsystem
          +
          +
          • +
        + + + +
          +
        • +

          FollowPathHolonomic

          +
          public FollowPathHolonomic​(PathPlannerPath path,
+                           Supplier<Pose2d> poseSupplier,
+                           Supplier<ChassisSpeeds> speedsSupplier,
+                           Consumer<ChassisSpeeds> outputRobotRelative,
+                           HolonomicPathFollowerConfig config,
+                           Subsystem... requirements)
          +
          Construct a path following command that will use a holonomic drive controller for holonomic + drive trains
          +
          +
          Parameters:
          +
          path - The path to follow
          +
          poseSupplier - Function that supplies the current field-relative pose of the robot
          +
          speedsSupplier - Function that supplies the current robot-relative chassis speeds
          +
          outputRobotRelative - Function that will apply the robot-relative output speeds of this + command
          +
          config - Holonomic path follower configuration
          +
          requirements - Subsystems required by this command, usually just the drive subsystem
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/FollowPathLTV.html b/docs/java/com/pathplanner/lib/commands/FollowPathLTV.html new file mode 100644 index 00000000..d140a2f2 --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/FollowPathLTV.html @@ -0,0 +1,402 @@ + + + + + +FollowPathLTV (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class FollowPathLTV

    +
    +
    + +
    +
      +
    • +
      +
      All Implemented Interfaces:
      +
      Sendable
      +
      +
      +
      public class FollowPathLTV
+extends FollowPathCommand
      +
      Follow a path using a PPLTVController
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          FollowPathLTV

          +
          public FollowPathLTV​(PathPlannerPath path,
+                     Supplier<Pose2d> poseSupplier,
+                     Supplier<ChassisSpeeds> speedsSupplier,
+                     Consumer<ChassisSpeeds> output,
+                     double dt,
+                     ReplanningConfig replanningConfig,
+                     Subsystem... requirements)
          +
          Create a path following command that will use an LTV unicycle controller for differential drive + trains
          +
          +
          Parameters:
          +
          path - The path to follow
          +
          poseSupplier - Function that supplies the current field-relative pose of the robot
          +
          speedsSupplier - Function that supplies the current robot-relative chassis speeds
          +
          output - Function that will apply the robot-relative output speeds of this command
          +
          dt - The amount of time between each robot control loop, default is 0.02s
          +
          replanningConfig - Path replanning configuration
          +
          requirements - Subsystems required by this command, usually just the drive subsystem
          +
          +
          • +
        + + + +
          +
        • +

          FollowPathLTV

          +
          public FollowPathLTV​(PathPlannerPath path,
+                     Supplier<Pose2d> poseSupplier,
+                     Supplier<ChassisSpeeds> speedsSupplier,
+                     Consumer<ChassisSpeeds> output,
+                     Vector<N3> qelems,
+                     Vector<N2> relems,
+                     double dt,
+                     ReplanningConfig replanningConfig,
+                     Subsystem... requirements)
          +
          Create a path following command that will use an LTV unicycle controller for differential drive + trains
          +
          +
          Parameters:
          +
          path - The path to follow
          +
          poseSupplier - Function that supplies the current field-relative pose of the robot
          +
          speedsSupplier - Function that supplies the current robot-relative chassis speeds
          +
          output - Function that will apply the robot-relative output speeds of this command
          +
          qelems - The maximum desired error tolerance for each state.
          +
          relems - The maximum desired control effort for each input.
          +
          dt - The amount of time between each robot control loop, default is 0.02s
          +
          replanningConfig - Path replanning configuration
          +
          requirements - Subsystems required by this command, usually just the drive subsystem
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/FollowPathRamsete.html b/docs/java/com/pathplanner/lib/commands/FollowPathRamsete.html new file mode 100644 index 00000000..8c2089fc --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/FollowPathRamsete.html @@ -0,0 +1,398 @@ + + + + + +FollowPathRamsete (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class FollowPathRamsete

    +
    +
    + +
    +
      +
    • +
      +
      All Implemented Interfaces:
      +
      Sendable
      +
      +
      +
      public class FollowPathRamsete
+extends FollowPathCommand
      +
      Follow a path using a PPRamseteController
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          FollowPathRamsete

          +
          public FollowPathRamsete​(PathPlannerPath path,
+                         Supplier<Pose2d> poseSupplier,
+                         Supplier<ChassisSpeeds> speedsSupplier,
+                         Consumer<ChassisSpeeds> output,
+                         double b,
+                         double zeta,
+                         ReplanningConfig replanningConfig,
+                         Subsystem... requirements)
          +
          Construct a path following command that will use a Ramsete path following controller for + differential drive trains
          +
          +
          Parameters:
          +
          path - The path to follow
          +
          poseSupplier - Function that supplies the current field-relative pose of the robot
          +
          speedsSupplier - Function that supplies the current robot-relative chassis speeds
          +
          output - Function that will apply the robot-relative output speeds of this command
          +
          b - Tuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more + aggressive like a proportional term.
          +
          zeta - Tuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide + more damping in response.
          +
          replanningConfig - Path replanning configuration
          +
          requirements - Subsystems required by this command, usually just the drive subsystem
          +
          +
          • +
        + + + +
          +
        • +

          FollowPathRamsete

          +
          public FollowPathRamsete​(PathPlannerPath path,
+                         Supplier<Pose2d> poseSupplier,
+                         Supplier<ChassisSpeeds> speedsSupplier,
+                         Consumer<ChassisSpeeds> output,
+                         ReplanningConfig replanningConfig,
+                         Subsystem... requirements)
          +
          Construct a path following command that will use a Ramsete path following controller for + differential drive trains
          +
          +
          Parameters:
          +
          path - The path to follow
          +
          poseSupplier - Function that supplies the current field-relative pose of the robot
          +
          speedsSupplier - Function that supplies the current robot-relative chassis speeds
          +
          output - Function that will apply the robot-relative output speeds of this command
          +
          replanningConfig - Path replanning configuration
          +
          requirements - Subsystems required by this command, usually just the drive subsystem
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/FollowPathWithEvents.html b/docs/java/com/pathplanner/lib/commands/FollowPathWithEvents.html new file mode 100644 index 00000000..3c2f7979 --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/FollowPathWithEvents.html @@ -0,0 +1,428 @@ + + + + + +FollowPathWithEvents (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class FollowPathWithEvents

    +
    +
    + +
    +
      +
    • +
      +
      All Implemented Interfaces:
      +
      Sendable
      +
      +
      +
      public class FollowPathWithEvents
+extends Command
      +
      Command that will run a path following command and trigger event markers along the way
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          FollowPathWithEvents

          +
          public FollowPathWithEvents​(Command pathFollowingCommand,
+                            PathPlannerPath path,
+                            Supplier<Pose2d> poseSupplier)
          +
          Constructs a new FollowPathWithEvents command.
          +
          +
          Parameters:
          +
          pathFollowingCommand - the command to follow the path
          +
          path - the path to follow
          +
          poseSupplier - a supplier for the robot's current pose
          +
          Throws:
          +
          IllegalArgumentException - if an event command requires the drive subsystem
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          initialize

          +
          public void initialize()
          +
          +
          Overrides:
          +
          initialize in class Command
          +
          +
          • +
        + + + +
          +
        • +

          execute

          +
          public void execute()
          +
          +
          Overrides:
          +
          execute in class Command
          +
          +
          • +
        + + + +
          +
        • +

          isFinished

          +
          public boolean isFinished()
          +
          +
          Overrides:
          +
          isFinished in class Command
          +
          +
          • +
        + + + +
          +
        • +

          end

          +
          public void end​(boolean interrupted)
          +
          +
          Overrides:
          +
          end in class Command
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/PathPlannerAuto.html b/docs/java/com/pathplanner/lib/commands/PathPlannerAuto.html new file mode 100644 index 00000000..7377f514 --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/PathPlannerAuto.html @@ -0,0 +1,492 @@ + + + + + +PathPlannerAuto (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class PathPlannerAuto

    +
    +
    + +
    +
      +
    • +
      +
      All Implemented Interfaces:
      +
      Sendable
      +
      +
      +
      public class PathPlannerAuto
+extends Command
      +
      A command that loads and runs an autonomous routine built using PathPlanner.
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathPlannerAuto

          +
          public PathPlannerAuto​(String autoName)
          +
          Constructs a new PathPlannerAuto command.
          +
          +
          Parameters:
          +
          autoName - the name of the autonomous routine to load and run
          +
          Throws:
          +
          RuntimeException - if AutoBuilder is not configured before attempting to load the + autonomous routine
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          getStaringPoseFromAutoFile

          +
          public static Pose2d getStaringPoseFromAutoFile​(String autoName)
          +
          Get the starting pose from the given auto file
          +
          +
          Parameters:
          +
          autoName - Name of the auto to get the pose from
          +
          Returns:
          +
          Starting pose from the given auto
          +
          +
          • +
        + + + +
          +
        • +

          getPathGroupFromAutoFile

          +
          public static List<PathPlannerPath> getPathGroupFromAutoFile​(String autoName)
          +
          Get a list of every path in the given auto (depth first)
          +
          +
          Parameters:
          +
          autoName - Name of the auto to get the path group from
          +
          Returns:
          +
          List of paths in the auto
          +
          +
          • +
        + + + +
          +
        • +

          hotReload

          +
          public void hotReload​(org.json.simple.JSONObject autoJson)
          +
          Reloads the autonomous routine with the given JSON object and updates the requirements of this + command.
          +
          +
          Parameters:
          +
          autoJson - the JSON object representing the updated autonomous routine
          +
          +
          • +
        + + + +
          +
        • +

          initialize

          +
          public void initialize()
          +
          +
          Overrides:
          +
          initialize in class Command
          +
          +
          • +
        + + + +
          +
        • +

          execute

          +
          public void execute()
          +
          +
          Overrides:
          +
          execute in class Command
          +
          +
          • +
        + + + +
          +
        • +

          isFinished

          +
          public boolean isFinished()
          +
          +
          Overrides:
          +
          isFinished in class Command
          +
          +
          • +
        + + + +
          +
        • +

          end

          +
          public void end​(boolean interrupted)
          +
          +
          Overrides:
          +
          end in class Command
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/PathfindHolonomic.html b/docs/java/com/pathplanner/lib/commands/PathfindHolonomic.html new file mode 100644 index 00000000..f56c43dd --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/PathfindHolonomic.html @@ -0,0 +1,579 @@ + + + + + +PathfindHolonomic (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class PathfindHolonomic

    +
    +
    + +
    +
      +
    • +
      +
      All Implemented Interfaces:
      +
      Sendable
      +
      +
      +
      public class PathfindHolonomic
+extends PathfindingCommand
      +
      Pathfind and follow the path with a PPHolonomicDriveController
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathfindHolonomic

          +
          public PathfindHolonomic​(PathPlannerPath targetPath,
+                         PathConstraints constraints,
+                         Supplier<Pose2d> poseSupplier,
+                         Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                         Consumer<ChassisSpeeds> output,
+                         HolonomicPathFollowerConfig config,
+                         Subsystem... requirements)
          +
          Constructs a new PathfindHolonomic command that will generate a path towards the given path.
          +
          +
          Parameters:
          +
          targetPath - the path to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (robot relative)
          +
          config - HolonomicPathFollowerConfig object with the configuration parameters for path + following
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindHolonomic

          +
          public PathfindHolonomic​(Pose2d targetPose,
+                         PathConstraints constraints,
+                         double goalEndVel,
+                         Supplier<Pose2d> poseSupplier,
+                         Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                         Consumer<ChassisSpeeds> output,
+                         HolonomicPathFollowerConfig config,
+                         Subsystem... requirements)
          +
          Constructs a new PathfindHolonomic command that will generate a path towards the given pose.
          +
          +
          Parameters:
          +
          targetPose - the pose to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          goalEndVel - The goal end velocity when reaching the given pose
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (field relative if holonomic, robot relative if + differential)
          +
          config - HolonomicPathFollowerConfig object with the configuration parameters for path + following
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindHolonomic

          +
          public PathfindHolonomic​(Pose2d targetPose,
+                         PathConstraints constraints,
+                         Supplier<Pose2d> poseSupplier,
+                         Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                         Consumer<ChassisSpeeds> output,
+                         HolonomicPathFollowerConfig config,
+                         Subsystem... requirements)
          +
          Constructs a new PathfindHolonomic command that will generate a path towards the given pose and + stop.
          +
          +
          Parameters:
          +
          targetPose - the pose to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (field relative if holonomic, robot relative if + differential)
          +
          config - HolonomicPathFollowerConfig object with the configuration parameters for path + following
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindHolonomic

          +
          public PathfindHolonomic​(PathPlannerPath targetPath,
+                         PathConstraints constraints,
+                         Supplier<Pose2d> poseSupplier,
+                         Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                         Consumer<ChassisSpeeds> output,
+                         HolonomicPathFollowerConfig config,
+                         double rotationDelayDistance,
+                         Subsystem... requirements)
          +
          Constructs a new PathfindHolonomic command that will generate a path towards the given path.
          +
          +
          Parameters:
          +
          targetPath - the path to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (robot relative)
          +
          config - HolonomicPathFollowerConfig object with the configuration parameters for path + following
          +
          rotationDelayDistance - Distance to delay the target rotation of the robot. This will + cause the robot to hold its current rotation until it reaches the given distance along the + path.
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindHolonomic

          +
          public PathfindHolonomic​(Pose2d targetPose,
+                         PathConstraints constraints,
+                         double goalEndVel,
+                         Supplier<Pose2d> poseSupplier,
+                         Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                         Consumer<ChassisSpeeds> output,
+                         HolonomicPathFollowerConfig config,
+                         double rotationDelayDistance,
+                         Subsystem... requirements)
          +
          Constructs a new PathfindHolonomic command that will generate a path towards the given pose.
          +
          +
          Parameters:
          +
          targetPose - the pose to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          goalEndVel - The goal end velocity when reaching the given pose
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (field relative if holonomic, robot relative if + differential)
          +
          config - HolonomicPathFollowerConfig object with the configuration parameters for path + following
          +
          rotationDelayDistance - Distance to delay the target rotation of the robot. This will + cause the robot to hold its current rotation until it reaches the given distance along the + path.
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindHolonomic

          +
          public PathfindHolonomic​(Pose2d targetPose,
+                         PathConstraints constraints,
+                         Supplier<Pose2d> poseSupplier,
+                         Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                         Consumer<ChassisSpeeds> output,
+                         HolonomicPathFollowerConfig config,
+                         double rotationDelayDistance,
+                         Subsystem... requirements)
          +
          Constructs a new PathfindHolonomic command that will generate a path towards the given pose and + stop.
          +
          +
          Parameters:
          +
          targetPose - the pose to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (field relative if holonomic, robot relative if + differential)
          +
          config - HolonomicPathFollowerConfig object with the configuration parameters for path + following
          +
          rotationDelayDistance - Distance to delay the target rotation of the robot. This will + cause the robot to hold its current rotation until it reaches the given distance along the + path.
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/PathfindLTV.html b/docs/java/com/pathplanner/lib/commands/PathfindLTV.html new file mode 100644 index 00000000..30db84b5 --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/PathfindLTV.html @@ -0,0 +1,576 @@ + + + + + +PathfindLTV (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class PathfindLTV

    +
    +
    + +
    +
      +
    • +
      +
      All Implemented Interfaces:
      +
      Sendable
      +
      +
      +
      public class PathfindLTV
+extends PathfindingCommand
      +
      Pathfind and follow the path with a PPLTVController
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathfindLTV

          +
          public PathfindLTV​(PathPlannerPath targetPath,
+                   PathConstraints constraints,
+                   Supplier<Pose2d> poseSupplier,
+                   Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                   Consumer<ChassisSpeeds> output,
+                   Vector<N3> qelems,
+                   Vector<N2> relems,
+                   double dt,
+                   Subsystem... requirements)
          +
          Constructs a new PathfindLTV command that will generate a path towards the given path.
          +
          +
          Parameters:
          +
          targetPath - the path to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (robot relative)
          +
          qelems - The maximum desired error tolerance for each state.
          +
          relems - The maximum desired control effort for each input.
          +
          dt - Period of the robot control loop in seconds (default 0.02)
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindLTV

          +
          public PathfindLTV​(PathPlannerPath targetPath,
+                   PathConstraints constraints,
+                   Supplier<Pose2d> poseSupplier,
+                   Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                   Consumer<ChassisSpeeds> output,
+                   double dt,
+                   Subsystem... requirements)
          +
          Constructs a new PathfindLTV command that will generate a path towards the given path.
          +
          +
          Parameters:
          +
          targetPath - the path to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (robot relative)
          +
          dt - Period of the robot control loop in seconds (default 0.02)
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindLTV

          +
          public PathfindLTV​(Translation2d targetPosition,
+                   PathConstraints constraints,
+                   double goalEndVel,
+                   Supplier<Pose2d> poseSupplier,
+                   Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                   Consumer<ChassisSpeeds> output,
+                   Vector<N3> qelems,
+                   Vector<N2> relems,
+                   double dt,
+                   Subsystem... requirements)
          +
          Constructs a new PathfindLTV command that will generate a path towards the given position.
          +
          +
          Parameters:
          +
          targetPosition - the position to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          goalEndVel - The goal end velocity when reaching the given pose
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (field relative if holonomic, robot relative if + differential)
          +
          qelems - The maximum desired error tolerance for each state.
          +
          relems - The maximum desired control effort for each input.
          +
          dt - Period of the robot control loop in seconds (default 0.02)
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindLTV

          +
          public PathfindLTV​(Translation2d targetPosition,
+                   PathConstraints constraints,
+                   double goalEndVel,
+                   Supplier<Pose2d> poseSupplier,
+                   Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                   Consumer<ChassisSpeeds> output,
+                   double dt,
+                   Subsystem... requirements)
          +
          Constructs a new PathfindLTV command that will generate a path towards the given position.
          +
          +
          Parameters:
          +
          targetPosition - the position to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          goalEndVel - The goal end velocity when reaching the given pose
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (field relative if holonomic, robot relative if + differential)
          +
          dt - Period of the robot control loop in seconds (default 0.02)
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindLTV

          +
          public PathfindLTV​(Translation2d targetPosition,
+                   PathConstraints constraints,
+                   Supplier<Pose2d> poseSupplier,
+                   Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                   Consumer<ChassisSpeeds> output,
+                   Vector<N3> qelems,
+                   Vector<N2> relems,
+                   double dt,
+                   Subsystem... requirements)
          +
          Constructs a new PathfindLTV command that will generate a path towards the given position and + stop.
          +
          +
          Parameters:
          +
          targetPosition - the position to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (field relative if holonomic, robot relative if + differential)
          +
          qelems - The maximum desired error tolerance for each state.
          +
          relems - The maximum desired control effort for each input.
          +
          dt - Period of the robot control loop in seconds (default 0.02)
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindLTV

          +
          public PathfindLTV​(Translation2d targetPosition,
+                   PathConstraints constraints,
+                   Supplier<Pose2d> poseSupplier,
+                   Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                   Consumer<ChassisSpeeds> output,
+                   double dt,
+                   Subsystem... requirements)
          +
          Constructs a new PathfindLTV command that will generate a path towards the given position and + stop.
          +
          +
          Parameters:
          +
          targetPosition - the position to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (field relative if holonomic, robot relative if + differential)
          +
          dt - Period of the robot control loop in seconds (default 0.02)
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/PathfindRamsete.html b/docs/java/com/pathplanner/lib/commands/PathfindRamsete.html new file mode 100644 index 00000000..85abae4b --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/PathfindRamsete.html @@ -0,0 +1,564 @@ + + + + + +PathfindRamsete (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class PathfindRamsete

    +
    +
    + +
    +
      +
    • +
      +
      All Implemented Interfaces:
      +
      Sendable
      +
      +
      +
      public class PathfindRamsete
+extends PathfindingCommand
      +
      Pathfind and follow the path with a PPRamseteController
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathfindRamsete

          +
          public PathfindRamsete​(PathPlannerPath targetPath,
+                       PathConstraints constraints,
+                       Supplier<Pose2d> poseSupplier,
+                       Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                       Consumer<ChassisSpeeds> output,
+                       double b,
+                       double zeta,
+                       Subsystem... requirements)
          +
          Constructs a new PathfindRamsete command that will generate a path towards the given path.
          +
          +
          Parameters:
          +
          targetPath - the path to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (robot relative)
          +
          b - Tuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more + aggressive like a proportional term.
          +
          zeta - Tuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide + more damping in response.
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindRamsete

          +
          public PathfindRamsete​(PathPlannerPath targetPath,
+                       PathConstraints constraints,
+                       Supplier<Pose2d> poseSupplier,
+                       Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                       Consumer<ChassisSpeeds> output,
+                       Subsystem... requirements)
          +
          Constructs a new PathfindRamsete command that will generate a path towards the given path.
          +
          +
          Parameters:
          +
          targetPath - the path to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (robot relative)
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindRamsete

          +
          public PathfindRamsete​(Translation2d targetPosition,
+                       PathConstraints constraints,
+                       double goalEndVel,
+                       Supplier<Pose2d> poseSupplier,
+                       Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                       Consumer<ChassisSpeeds> output,
+                       double b,
+                       double zeta,
+                       Subsystem... requirements)
          +
          Constructs a new PathfindRamsete command that will generate a path towards the given position.
          +
          +
          Parameters:
          +
          targetPosition - the position to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          goalEndVel - The goal end velocity when reaching the given pose
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (field relative if holonomic, robot relative if + differential)
          +
          b - Tuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more + aggressive like a proportional term.
          +
          zeta - Tuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide + more damping in response.
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindRamsete

          +
          public PathfindRamsete​(Translation2d targetPosition,
+                       PathConstraints constraints,
+                       double goalEndVel,
+                       Supplier<Pose2d> poseSupplier,
+                       Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                       Consumer<ChassisSpeeds> output,
+                       Subsystem... requirements)
          +
          Constructs a new PathfindRamsete command that will generate a path towards the given position.
          +
          +
          Parameters:
          +
          targetPosition - the position to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          goalEndVel - The goal end velocity when reaching the given pose
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (field relative if holonomic, robot relative if + differential)
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindRamsete

          +
          public PathfindRamsete​(Translation2d targetPosition,
+                       PathConstraints constraints,
+                       Supplier<Pose2d> poseSupplier,
+                       Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                       Consumer<ChassisSpeeds> output,
+                       double b,
+                       double zeta,
+                       Subsystem... requirements)
          +
          Constructs a new PathfindRamsete command that will generate a path towards the given position + and stop.
          +
          +
          Parameters:
          +
          targetPosition - the position to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (field relative if holonomic, robot relative if + differential)
          +
          b - Tuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more + aggressive like a proportional term.
          +
          zeta - Tuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide + more damping in response.
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindRamsete

          +
          public PathfindRamsete​(Translation2d targetPosition,
+                       PathConstraints constraints,
+                       Supplier<Pose2d> poseSupplier,
+                       Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                       Consumer<ChassisSpeeds> output,
+                       Subsystem... requirements)
          +
          Constructs a new PathfindRamsete command that will generate a path towards the given position + and stop.
          +
          +
          Parameters:
          +
          targetPosition - the position to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          output - a consumer for the output speeds (field relative if holonomic, robot relative if + differential)
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html b/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html new file mode 100644 index 00000000..7de9541f --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html @@ -0,0 +1,399 @@ + + + + + +PathfindThenFollowPathHolonomic (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class PathfindThenFollowPathHolonomic

    +
    +
    + +
    +
      +
    • +
      +
      All Implemented Interfaces:
      +
      Sendable
      +
      +
      +
      public class PathfindThenFollowPathHolonomic
+extends SequentialCommandGroup
      +
      A command group that first pathfinds to a goal path and then follows the goal path.
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathfindThenFollowPathHolonomic

          +
          public PathfindThenFollowPathHolonomic​(PathPlannerPath goalPath,
+                                       PathConstraints pathfindingConstraints,
+                                       Supplier<Pose2d> poseSupplier,
+                                       Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                                       Consumer<ChassisSpeeds> robotRelativeOutput,
+                                       HolonomicPathFollowerConfig config,
+                                       double rotationDelayDistance,
+                                       Subsystem... requirements)
          +
          Constructs a new PathfindThenFollowPathHolonomic command group.
          +
          +
          Parameters:
          +
          goalPath - the goal path to follow
          +
          pathfindingConstraints - the path constraints for pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          robotRelativeOutput - a consumer for the output speeds (robot relative)
          +
          config - HolonomicPathFollowerConfig for configuring the + path following commands
          +
          rotationDelayDistance - Distance to delay the target rotation of the robot. This will + cause the robot to hold its current rotation until it reaches the given distance along the + path.
          +
          requirements - the subsystems required by this command (drive subsystem)
          +
          +
          • +
        + + + +
          +
        • +

          PathfindThenFollowPathHolonomic

          +
          public PathfindThenFollowPathHolonomic​(PathPlannerPath goalPath,
+                                       PathConstraints pathfindingConstraints,
+                                       Supplier<Pose2d> poseSupplier,
+                                       Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                                       Consumer<ChassisSpeeds> robotRelativeOutput,
+                                       HolonomicPathFollowerConfig config,
+                                       Subsystem... requirements)
          +
          Constructs a new PathfindThenFollowPathHolonomic command group.
          +
          +
          Parameters:
          +
          goalPath - the goal path to follow
          +
          pathfindingConstraints - the path constraints for pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          robotRelativeOutput - a consumer for the output speeds (robot relative)
          +
          config - HolonomicPathFollowerConfig for configuring the + path following commands
          +
          requirements - the subsystems required by this command (drive subsystem)
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html b/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html new file mode 100644 index 00000000..00ca4bdd --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html @@ -0,0 +1,404 @@ + + + + + +PathfindThenFollowPathLTV (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class PathfindThenFollowPathLTV

    +
    +
    + +
    +
      +
    • +
      +
      All Implemented Interfaces:
      +
      Sendable
      +
      +
      +
      public class PathfindThenFollowPathLTV
+extends SequentialCommandGroup
      +
      A command group that first pathfinds to a goal path and then follows the goal path.
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathfindThenFollowPathLTV

          +
          public PathfindThenFollowPathLTV​(PathPlannerPath goalPath,
+                                 PathConstraints pathfindingConstraints,
+                                 Supplier<Pose2d> poseSupplier,
+                                 Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                                 Consumer<ChassisSpeeds> robotRelativeOutput,
+                                 Vector<N3> qelems,
+                                 Vector<N2> relems,
+                                 double dt,
+                                 ReplanningConfig replanningConfig,
+                                 Subsystem... requirements)
          +
          Constructs a new PathfindThenFollowPathLTV command group.
          +
          +
          Parameters:
          +
          goalPath - the goal path to follow
          +
          pathfindingConstraints - the path constraints for pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          robotRelativeOutput - a consumer for the output speeds (robot relative)
          +
          qelems - The maximum desired error tolerance for each state.
          +
          relems - The maximum desired control effort for each input.
          +
          dt - Period of the robot control loop in seconds (default 0.02)
          +
          replanningConfig - Path replanning configuration
          +
          requirements - the subsystems required by this command (drive subsystem)
          +
          +
          • +
        + + + +
          +
        • +

          PathfindThenFollowPathLTV

          +
          public PathfindThenFollowPathLTV​(PathPlannerPath goalPath,
+                                 PathConstraints pathfindingConstraints,
+                                 Supplier<Pose2d> poseSupplier,
+                                 Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                                 Consumer<ChassisSpeeds> robotRelativeOutput,
+                                 double dt,
+                                 ReplanningConfig replanningConfig,
+                                 Subsystem... requirements)
          +
          Constructs a new PathfindThenFollowPathLTV command group.
          +
          +
          Parameters:
          +
          goalPath - the goal path to follow
          +
          pathfindingConstraints - the path constraints for pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          robotRelativeOutput - a consumer for the output speeds (robot relative)
          +
          dt - Period of the robot control loop in seconds (default 0.02)
          +
          replanningConfig - Path replanning configuration
          +
          requirements - the subsystems required by this command (drive subsystem)
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html b/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html new file mode 100644 index 00000000..b9e3e692 --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html @@ -0,0 +1,400 @@ + + + + + +PathfindThenFollowPathRamsete (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class PathfindThenFollowPathRamsete

    +
    +
    + +
    +
      +
    • +
      +
      All Implemented Interfaces:
      +
      Sendable
      +
      +
      +
      public class PathfindThenFollowPathRamsete
+extends SequentialCommandGroup
      +
      A command group that first pathfinds to a goal path and then follows the goal path.
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathfindThenFollowPathRamsete

          +
          public PathfindThenFollowPathRamsete​(PathPlannerPath goalPath,
+                                     PathConstraints pathfindingConstraints,
+                                     Supplier<Pose2d> poseSupplier,
+                                     Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                                     Consumer<ChassisSpeeds> robotRelativeOutput,
+                                     double b,
+                                     double zeta,
+                                     ReplanningConfig replanningConfig,
+                                     Subsystem... requirements)
          +
          Constructs a new PathfindThenFollowPathRamsete command group.
          +
          +
          Parameters:
          +
          goalPath - the goal path to follow
          +
          pathfindingConstraints - the path constraints for pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          robotRelativeOutput - a consumer for the output speeds (robot relative)
          +
          b - Tuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more + aggressive like a proportional term.
          +
          zeta - Tuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide + more damping in response.
          +
          replanningConfig - Path replanning configuration
          +
          requirements - the subsystems required by this command (drive subsystem)
          +
          +
          • +
        + + + +
          +
        • +

          PathfindThenFollowPathRamsete

          +
          public PathfindThenFollowPathRamsete​(PathPlannerPath goalPath,
+                                     PathConstraints pathfindingConstraints,
+                                     Supplier<Pose2d> poseSupplier,
+                                     Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
+                                     Consumer<ChassisSpeeds> robotRelativeOutput,
+                                     ReplanningConfig replanningConfig,
+                                     Subsystem... requirements)
          +
          Constructs a new PathfindThenFollowPathRamsete command group.
          +
          +
          Parameters:
          +
          goalPath - the goal path to follow
          +
          pathfindingConstraints - the path constraints for pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          currentRobotRelativeSpeeds - a supplier for the robot's current robot relative speeds
          +
          robotRelativeOutput - a consumer for the output speeds (robot relative)
          +
          replanningConfig - Path replanning configuration
          +
          requirements - the subsystems required by this command (drive subsystem)
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/PathfindingCommand.html b/docs/java/com/pathplanner/lib/commands/PathfindingCommand.html new file mode 100644 index 00000000..0589e57d --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/PathfindingCommand.html @@ -0,0 +1,492 @@ + + + + + +PathfindingCommand (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.commands
    +

    Class PathfindingCommand

    +
    +
    + +
    + +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathfindingCommand

          +
          public PathfindingCommand​(PathPlannerPath targetPath,
+                          PathConstraints constraints,
+                          Supplier<Pose2d> poseSupplier,
+                          Supplier<ChassisSpeeds> speedsSupplier,
+                          Consumer<ChassisSpeeds> outputRobotRelative,
+                          PathFollowingController controller,
+                          double rotationDelayDistance,
+                          Subsystem... requirements)
          +
          Constructs a new base pathfinding command that will generate a path towards the given path.
          +
          +
          Parameters:
          +
          targetPath - the path to pathfind to
          +
          constraints - the path constraints to use while pathfinding
          +
          poseSupplier - a supplier for the robot's current pose
          +
          speedsSupplier - a supplier for the robot's current robot relative speeds
          +
          outputRobotRelative - a consumer for the output speeds (robot relative)
          +
          controller - Path following controller that will be used to follow the path
          +
          rotationDelayDistance - How far the robot should travel before attempting to rotate to the + final rotation
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        + + + +
          +
        • +

          PathfindingCommand

          +
          public PathfindingCommand​(Pose2d targetPose,
+                          PathConstraints constraints,
+                          double goalEndVel,
+                          Supplier<Pose2d> poseSupplier,
+                          Supplier<ChassisSpeeds> speedsSupplier,
+                          Consumer<ChassisSpeeds> outputRobotRelative,
+                          PathFollowingController controller,
+                          double rotationDelayDistance,
+                          Subsystem... requirements)
          +
          Constructs a new base pathfinding command that will generate a path towards the given pose.
          +
          +
          Parameters:
          +
          targetPose - the pose to pathfind to, the rotation component is only relevant for + holonomic drive trains
          +
          constraints - the path constraints to use while pathfinding
          +
          goalEndVel - The goal end velocity when reaching the target pose
          +
          poseSupplier - a supplier for the robot's current pose
          +
          speedsSupplier - a supplier for the robot's current robot relative speeds
          +
          outputRobotRelative - a consumer for the output speeds (robot relative)
          +
          controller - Path following controller that will be used to follow the path
          +
          rotationDelayDistance - How far the robot should travel before attempting to rotate to the + final rotation
          +
          requirements - the subsystems required by this command
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          initialize

          +
          public void initialize()
          +
          +
          Overrides:
          +
          initialize in class Command
          +
          +
          • +
        + + + +
          +
        • +

          execute

          +
          public void execute()
          +
          +
          Overrides:
          +
          execute in class Command
          +
          +
          • +
        + + + +
          +
        • +

          isFinished

          +
          public boolean isFinished()
          +
          +
          Overrides:
          +
          isFinished in class Command
          +
          +
          • +
        + + + +
          +
        • +

          end

          +
          public void end​(boolean interrupted)
          +
          +
          Overrides:
          +
          end in class Command
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/commands/package-summary.html b/docs/java/com/pathplanner/lib/commands/package-summary.html new file mode 100644 index 00000000..36a3503d --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/package-summary.html @@ -0,0 +1,238 @@ + + + + + +com.pathplanner.lib.commands (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Package com.pathplanner.lib.commands

    +
    +
    + +
    +
    +
    + +
    + + diff --git a/docs/java/com/pathplanner/lib/commands/package-tree.html b/docs/java/com/pathplanner/lib/commands/package-tree.html new file mode 100644 index 00000000..dafab411 --- /dev/null +++ b/docs/java/com/pathplanner/lib/commands/package-tree.html @@ -0,0 +1,187 @@ + + + + + +com.pathplanner.lib.commands Class Hierarchy (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Hierarchy For Package com.pathplanner.lib.commands

    +Package Hierarchies: + +
    +
    +
    +

    Class Hierarchy

    + +
    +
    +
    + + + diff --git a/docs/java/com/pathplanner/lib/controllers/PPHolonomicDriveController.html b/docs/java/com/pathplanner/lib/controllers/PPHolonomicDriveController.html new file mode 100644 index 00000000..958adcc9 --- /dev/null +++ b/docs/java/com/pathplanner/lib/controllers/PPHolonomicDriveController.html @@ -0,0 +1,472 @@ + + + + + +PPHolonomicDriveController (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.controllers
    +

    Class PPHolonomicDriveController

    +
    +
    +
      +
    • java.lang.Object
      • +
    • +
        +
      • com.pathplanner.lib.controllers.PPHolonomicDriveController
        • +
      +
      • +
    +
    + +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PPHolonomicDriveController

          +
          public PPHolonomicDriveController​(PIDConstants translationConstants,
+                                  PIDConstants rotationConstants,
+                                  double period,
+                                  double maxModuleSpeed,
+                                  double driveBaseRadius)
          +
          Constructs a HolonomicDriveController
          +
          +
          Parameters:
          +
          translationConstants - PID constants for the translation PID controllers
          +
          rotationConstants - PID constants for the rotation controller
          +
          period - Period of the control loop in seconds
          +
          maxModuleSpeed - The max speed of a drive module in meters/sec
          +
          driveBaseRadius - The radius of the drive base in meters. For swerve drive, this is the + distance from the center of the robot to the furthest module. For mecanum, this is the + drive base width / 2
          +
          +
          • +
        + + + +
          +
        • +

          PPHolonomicDriveController

          +
          public PPHolonomicDriveController​(PIDConstants translationConstants,
+                                  PIDConstants rotationConstants,
+                                  double maxModuleSpeed,
+                                  double driveBaseRadius)
          +
          Constructs a HolonomicDriveController
          +
          +
          Parameters:
          +
          translationConstants - PID constants for the translation PID controllers
          +
          rotationConstants - PID constants for the rotation controller
          +
          maxModuleSpeed - The max speed of a drive module in meters/sec
          +
          driveBaseRadius - The radius of the drive base in meters. For swerve drive, this is the + distance from the center of the robot to the furthest module. For mecanum, this is the + drive base width / 2
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          setEnabled

          +
          public void setEnabled​(boolean enabled)
          +
          Enables and disables the controller for troubleshooting. When calculate() is called on a + disabled controller, only feedforward values are returned.
          +
          +
          Parameters:
          +
          enabled - If the controller is enabled or not
          +
          +
          • +
        + + + +
          +
        • +

          reset

          +
          public void reset​(Pose2d currentPose,
+                  ChassisSpeeds currentSpeeds)
          +
          Resets the controller based on the current state of the robot
          +
          +
          Specified by:
          +
          reset in interface PathFollowingController
          +
          Parameters:
          +
          currentPose - Current robot pose
          +
          currentSpeeds - Current robot relative chassis speeds
          +
          +
          • +
        + + + + + + + +
          +
        • +

          getPositionalError

          +
          public double getPositionalError()
          +
          Get the current positional error between the robot's actual and target positions
          +
          +
          Specified by:
          +
          getPositionalError in interface PathFollowingController
          +
          Returns:
          +
          Positional error, in meters
          +
          +
          • +
        + + + +
          +
        • +

          isHolonomic

          +
          public boolean isHolonomic()
          +
          Is this controller for holonomic drivetrains? Used to handle some differences in functionality + in the path following command.
          +
          +
          Specified by:
          +
          isHolonomic in interface PathFollowingController
          +
          Returns:
          +
          True if this controller is for a holonomic drive train
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/controllers/PPLTVController.html b/docs/java/com/pathplanner/lib/controllers/PPLTVController.html new file mode 100644 index 00000000..f739249e --- /dev/null +++ b/docs/java/com/pathplanner/lib/controllers/PPLTVController.html @@ -0,0 +1,517 @@ + + + + + +PPLTVController (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.controllers
    +

    Class PPLTVController

    +
    +
    + +
    + +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PPLTVController

          +
          public PPLTVController​(double dt)
          +
          Constructs a linear time-varying unicycle controller with default maximum desired error + tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s, + 2 rad/s).
          +
          +
          Parameters:
          +
          dt - Discretization timestep in seconds.
          +
          +
          • +
        + + + +
          +
        • +

          PPLTVController

          +
          public PPLTVController​(double dt,
+                       double maxVelocity)
          +
          Constructs a linear time-varying unicycle controller with default maximum desired error + tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s, + 2 rad/s).
          +
          +
          Parameters:
          +
          dt - Discretization timestep in seconds.
          +
          maxVelocity - The maximum velocity in meters per second for the controller gain lookup + table. The default is 9 m/s.
          +
          Throws:
          +
          IllegalArgumentException - if maxVelocity <= 0.
          +
          +
          • +
        + + + +
          +
        • +

          PPLTVController

          +
          public PPLTVController​(Vector<N3> qelems,
+                       Vector<N2> relems,
+                       double dt)
          +
          Constructs a linear time-varying unicycle controller. + +

          See + https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning + for how to select the tolerances.

          +
          +
          Parameters:
          +
          qelems - The maximum desired error tolerance for each state.
          +
          relems - The maximum desired control effort for each input.
          +
          dt - Discretization timestep in seconds.
          +
          +
          • +
        + + + +
          +
        • +

          PPLTVController

          +
          public PPLTVController​(Vector<N3> qelems,
+                       Vector<N2> relems,
+                       double dt,
+                       double maxVelocity)
          +
          Constructs a linear time-varying unicycle controller. + +

          See + https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning + for how to select the tolerances.

          +
          +
          Parameters:
          +
          qelems - The maximum desired error tolerance for each state.
          +
          relems - The maximum desired control effort for each input.
          +
          dt - Discretization timestep in seconds.
          +
          maxVelocity - The maximum velocity in meters per second for the controller gain lookup + table. The default is 9 m/s.
          +
          Throws:
          +
          IllegalArgumentException - if maxVelocity <= 0 m/s or >= 15 m/s.
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + + + + + +
          +
        • +

          reset

          +
          public void reset​(Pose2d currentPose,
+                  ChassisSpeeds currentSpeeds)
          +
          Resets the controller based on the current state of the robot
          +
          +
          Specified by:
          +
          reset in interface PathFollowingController
          +
          Parameters:
          +
          currentPose - Current robot pose
          +
          currentSpeeds - Current robot relative chassis speeds
          +
          +
          • +
        + + + +
          +
        • +

          getPositionalError

          +
          public double getPositionalError()
          +
          Get the current positional error between the robot's actual and target positions
          +
          +
          Specified by:
          +
          getPositionalError in interface PathFollowingController
          +
          Returns:
          +
          Positional error, in meters
          +
          +
          • +
        + + + +
          +
        • +

          isHolonomic

          +
          public boolean isHolonomic()
          +
          Is this controller for holonomic drivetrains? Used to handle some differences in functionality + in the path following command.
          +
          +
          Specified by:
          +
          isHolonomic in interface PathFollowingController
          +
          Returns:
          +
          True if this controller is for a holonomic drive train
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/controllers/PPRamseteController.html b/docs/java/com/pathplanner/lib/controllers/PPRamseteController.html new file mode 100644 index 00000000..c73876ce --- /dev/null +++ b/docs/java/com/pathplanner/lib/controllers/PPRamseteController.html @@ -0,0 +1,439 @@ + + + + + +PPRamseteController (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.controllers
    +

    Class PPRamseteController

    +
    +
    + +
    + +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PPRamseteController

          +
          public PPRamseteController​(double b,
+                           double zeta)
          +
          Construct a Ramsete unicycle controller.
          +
          +
          Parameters:
          +
          b - Tuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more + aggressive like a proportional term.
          +
          zeta - Tuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide + more damping in response.
          +
          +
          • +
        + + + +
          +
        • +

          PPRamseteController

          +
          public PPRamseteController()
          +
          Construct a Ramsete unicycle controller. The default arguments for b and zeta of 2.0 rad^2/m^2 + and 0.7 rad^-1 have been well-tested to produce desirable results.
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + + + + + +
          +
        • +

          reset

          +
          public void reset​(Pose2d currentPose,
+                  ChassisSpeeds currentSpeeds)
          +
          Resets the controller based on the current state of the robot
          +
          +
          Specified by:
          +
          reset in interface PathFollowingController
          +
          Parameters:
          +
          currentPose - Current robot pose
          +
          currentSpeeds - Current robot relative chassis speeds
          +
          +
          • +
        + + + +
          +
        • +

          getPositionalError

          +
          public double getPositionalError()
          +
          Get the current positional error between the robot's actual and target positions
          +
          +
          Specified by:
          +
          getPositionalError in interface PathFollowingController
          +
          Returns:
          +
          Positional error, in meters
          +
          +
          • +
        + + + +
          +
        • +

          isHolonomic

          +
          public boolean isHolonomic()
          +
          Is this controller for holonomic drivetrains? Used to handle some differences in functionality + in the path following command.
          +
          +
          Specified by:
          +
          isHolonomic in interface PathFollowingController
          +
          Returns:
          +
          True if this controller is for a holonomic drive train
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/controllers/PathFollowingController.html b/docs/java/com/pathplanner/lib/controllers/PathFollowingController.html new file mode 100644 index 00000000..f0f69993 --- /dev/null +++ b/docs/java/com/pathplanner/lib/controllers/PathFollowingController.html @@ -0,0 +1,333 @@ + + + + + +PathFollowingController (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.controllers
    +

    Interface PathFollowingController

    +
    +
    +
    + +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          calculateRobotRelativeSpeeds

          +
          ChassisSpeeds calculateRobotRelativeSpeeds​(Pose2d currentPose,
+                                           PathPlannerTrajectory.State targetState)
          +
          Calculates the next output of the path following controller
          +
          +
          Parameters:
          +
          currentPose - The current robot pose
          +
          targetState - The desired trajectory state
          +
          Returns:
          +
          The next robot relative output of the path following controller
          +
          +
          • +
        + + + +
          +
        • +

          reset

          +
          void reset​(Pose2d currentPose,
+           ChassisSpeeds currentSpeeds)
          +
          Resets the controller based on the current state of the robot
          +
          +
          Parameters:
          +
          currentPose - Current robot pose
          +
          currentSpeeds - Current robot relative chassis speeds
          +
          +
          • +
        + + + +
          +
        • +

          getPositionalError

          +
          double getPositionalError()
          +
          Get the current positional error between the robot's actual and target positions
          +
          +
          Returns:
          +
          Positional error, in meters
          +
          +
          • +
        + + + +
          +
        • +

          isHolonomic

          +
          boolean isHolonomic()
          +
          Is this controller for holonomic drivetrains? Used to handle some differences in functionality + in the path following command.
          +
          +
          Returns:
          +
          True if this controller is for a holonomic drive train
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + +
    + +
    + + diff --git a/docs/java/com/pathplanner/lib/controllers/package-summary.html b/docs/java/com/pathplanner/lib/controllers/package-summary.html new file mode 100644 index 00000000..e582deb0 --- /dev/null +++ b/docs/java/com/pathplanner/lib/controllers/package-summary.html @@ -0,0 +1,195 @@ + + + + + +com.pathplanner.lib.controllers (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Package com.pathplanner.lib.controllers

    +
    +
    + +
    +
    +
    + +
    + + diff --git a/docs/java/com/pathplanner/lib/controllers/package-tree.html b/docs/java/com/pathplanner/lib/controllers/package-tree.html new file mode 100644 index 00000000..6239c6f8 --- /dev/null +++ b/docs/java/com/pathplanner/lib/controllers/package-tree.html @@ -0,0 +1,177 @@ + + + + + +com.pathplanner.lib.controllers Class Hierarchy (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Hierarchy For Package com.pathplanner.lib.controllers

    +Package Hierarchies: + +
    +
    +
    +

    Class Hierarchy

    + +
    +
    +

    Interface Hierarchy

    + +
    +
    +
    + + + diff --git a/docs/java/com/pathplanner/lib/path/ConstraintsZone.html b/docs/java/com/pathplanner/lib/path/ConstraintsZone.html new file mode 100644 index 00000000..42f1b73c --- /dev/null +++ b/docs/java/com/pathplanner/lib/path/ConstraintsZone.html @@ -0,0 +1,478 @@ + + + + + +ConstraintsZone (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.path
    +

    Class ConstraintsZone

    +
    +
    + +
    +
      +
    • +
      +
      public class ConstraintsZone
+extends Object
      +
      A zone on a path with different kinematic constraints
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          ConstraintsZone

          +
          public ConstraintsZone​(double minWaypointPos,
+                       double maxWaypointPos,
+                       PathConstraints constraints)
          +
          Create a new constraints zone
          +
          +
          Parameters:
          +
          minWaypointPos - Starting position of the zone
          +
          maxWaypointPos - End position of the zone
          +
          constraints - The PathConstraints to apply within the + zone
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          getMinWaypointPos

          +
          public double getMinWaypointPos()
          +
          Get the starting position of the zone
          +
          +
          Returns:
          +
          Waypoint relative starting position
          +
          +
          • +
        + + + +
          +
        • +

          getMaxWaypointPos

          +
          public double getMaxWaypointPos()
          +
          Get the end position of the zone
          +
          +
          Returns:
          +
          Waypoint relative end position
          +
          +
          • +
        + + + + + + + +
          +
        • +

          isWithinZone

          +
          public boolean isWithinZone​(double t)
          +
          Get if a given waypoint relative position is within this zone
          +
          +
          Parameters:
          +
          t - Waypoint relative position
          +
          Returns:
          +
          True if given position is within this zone
          +
          +
          • +
        + + + +
          +
        • +

          overlapsRange

          +
          public boolean overlapsRange​(double minPos,
+                             double maxPos)
          +
          Get if this zone overlaps a given range
          +
          +
          Parameters:
          +
          minPos - The minimum waypoint relative position of the range
          +
          maxPos - The maximum waypoint relative position of the range
          +
          Returns:
          +
          True if any part of this zone is within the given range
          +
          +
          • +
        + + + +
          +
        • +

          forSegmentIndex

          +
          public ConstraintsZone forSegmentIndex​(int segmentIndex)
          +
          Transform the positions of this zone for a given segment number. + +

          For example, a zone from [1.5, 2.0] for the segment 1 will have the positions [0.5, 1.0]

          +
          +
          Parameters:
          +
          segmentIndex - The segment index to transform positions for
          +
          Returns:
          +
          The transformed zone
          +
          +
          • +
        + + + +
          +
        • +

          equals

          +
          public boolean equals​(Object o)
          +
          +
          Overrides:
          +
          equals in class Object
          +
          +
          • +
        + + + +
          +
        • +

          hashCode

          +
          public int hashCode()
          +
          +
          Overrides:
          +
          hashCode in class Object
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/path/EventMarker.html b/docs/java/com/pathplanner/lib/path/EventMarker.html new file mode 100644 index 00000000..abb3d208 --- /dev/null +++ b/docs/java/com/pathplanner/lib/path/EventMarker.html @@ -0,0 +1,471 @@ + + + + + +EventMarker (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.path
    +

    Class EventMarker

    +
    +
    + +
    +
      +
    • +
      +
      public class EventMarker
+extends Object
      +
      Position along the path that will trigger a command when reached
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          EventMarker

          +
          public EventMarker​(double waypointRelativePos,
+                   Command command,
+                   double minimumTriggerDistance)
          +
          Create a new event marker
          +
          +
          Parameters:
          +
          waypointRelativePos - The waypoint relative position of the marker
          +
          command - The command that should be triggered at this marker
          +
          minimumTriggerDistance - The minimum distance the robot must be within for this marker to + be triggered
          +
          +
          • +
        + + + +
          +
        • +

          EventMarker

          +
          public EventMarker​(double waypointRelativePos,
+                   Command command)
          +
          Create a new event marker
          +
          +
          Parameters:
          +
          waypointRelativePos - The waypoint relative position of the marker
          +
          command - The command that should be triggered at this marker
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          reset

          +
          public void reset​(Pose2d robotPose)
          +
          Reset the current robot position
          +
          +
          Parameters:
          +
          robotPose - The current pose of the robot
          +
          +
          • +
        + + + +
          +
        • +

          shouldTrigger

          +
          public boolean shouldTrigger​(Pose2d robotPose)
          +
          Get if this event marker should be triggered
          +
          +
          Parameters:
          +
          robotPose - Current pose of the robot
          +
          Returns:
          +
          True if this marker should be triggered
          +
          +
          • +
        + + + +
          +
        • +

          getCommand

          +
          public Command getCommand()
          +
          Get the command associated with this marker
          +
          +
          Returns:
          +
          Command for this marker
          +
          +
          • +
        + + + +
          +
        • +

          getWaypointRelativePos

          +
          public double getWaypointRelativePos()
          +
          Get the waypoint relative position of this marker
          +
          +
          Returns:
          +
          Waypoint relative position of this marker
          +
          +
          • +
        + + + +
          +
        • +

          getMinimumTriggerDistance

          +
          public double getMinimumTriggerDistance()
          +
          Get the minimum trigger distance for this marker
          +
          +
          Returns:
          +
          The minimum trigger distance in meters
          +
          +
          • +
        + + + +
          +
        • +

          equals

          +
          public boolean equals​(Object o)
          +
          +
          Overrides:
          +
          equals in class Object
          +
          +
          • +
        + + + +
          +
        • +

          hashCode

          +
          public int hashCode()
          +
          +
          Overrides:
          +
          hashCode in class Object
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/path/GoalEndState.html b/docs/java/com/pathplanner/lib/path/GoalEndState.html new file mode 100644 index 00000000..c3b3d17a --- /dev/null +++ b/docs/java/com/pathplanner/lib/path/GoalEndState.html @@ -0,0 +1,397 @@ + + + + + +GoalEndState (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.path
    +

    Class GoalEndState

    +
    +
    + +
    +
      +
    • +
      +
      public class GoalEndState
+extends Object
      +
      Describes the goal end state of the robot when finishing a path
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          GoalEndState

          +
          public GoalEndState​(double velocity,
+                    Rotation2d rotation)
          +
          Create a new goal end state
          +
          +
          Parameters:
          +
          velocity - The goal end velocity (M/S)
          +
          rotation - The goal rotation
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          getVelocity

          +
          public double getVelocity()
          +
          Get the goal end velocity
          +
          +
          Returns:
          +
          Goal end velocity (M/S)
          +
          +
          • +
        + + + +
          +
        • +

          getRotation

          +
          public Rotation2d getRotation()
          +
          Get the goal end rotation
          +
          +
          Returns:
          +
          Goal rotation
          +
          +
          • +
        + + + +
          +
        • +

          equals

          +
          public boolean equals​(Object o)
          +
          +
          Overrides:
          +
          equals in class Object
          +
          +
          • +
        + + + +
          +
        • +

          hashCode

          +
          public int hashCode()
          +
          +
          Overrides:
          +
          hashCode in class Object
          +
          +
          • +
        + + + + +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/path/PathConstraints.html b/docs/java/com/pathplanner/lib/path/PathConstraints.html new file mode 100644 index 00000000..68ddc488 --- /dev/null +++ b/docs/java/com/pathplanner/lib/path/PathConstraints.html @@ -0,0 +1,445 @@ + + + + + +PathConstraints (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.path
    +

    Class PathConstraints

    +
    +
    + +
    +
      +
    • +
      +
      public class PathConstraints
+extends Object
      +
      Kinematic path following constraints
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathConstraints

          +
          public PathConstraints​(double maxVelocityMps,
+                       double maxAccelerationMpsSq,
+                       double maxAngularVelocityRps,
+                       double maxAngularAccelerationRpsSq)
          +
          Create a new path constraints object
          +
          +
          Parameters:
          +
          maxVelocityMps - Max linear velocity (M/S)
          +
          maxAccelerationMpsSq - Max linear acceleration (M/S^2)
          +
          maxAngularVelocityRps - Max angular velocity (Rad/S)
          +
          maxAngularAccelerationRpsSq - Max angular acceleration (Rad/S^2)
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          getMaxVelocityMps

          +
          public double getMaxVelocityMps()
          +
          Get the max linear velocity
          +
          +
          Returns:
          +
          Max linear velocity (M/S)
          +
          +
          • +
        + + + +
          +
        • +

          getMaxAccelerationMpsSq

          +
          public double getMaxAccelerationMpsSq()
          +
          Get the max linear acceleration
          +
          +
          Returns:
          +
          Max linear acceleration (M/S^2)
          +
          +
          • +
        + + + +
          +
        • +

          getMaxAngularVelocityRps

          +
          public double getMaxAngularVelocityRps()
          +
          Get the max angular velocity
          +
          +
          Returns:
          +
          Max angular velocity (Rad/S)
          +
          +
          • +
        + + + +
          +
        • +

          getMaxAngularAccelerationRpsSq

          +
          public double getMaxAngularAccelerationRpsSq()
          +
          Get the max angular acceleration
          +
          +
          Returns:
          +
          Max angular acceleration (Rad/S^2)
          +
          +
          • +
        + + + +
          +
        • +

          equals

          +
          public boolean equals​(Object o)
          +
          +
          Overrides:
          +
          equals in class Object
          +
          +
          • +
        + + + +
          +
        • +

          hashCode

          +
          public int hashCode()
          +
          +
          Overrides:
          +
          hashCode in class Object
          +
          +
          • +
        + + + + +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/path/PathPlannerPath.html b/docs/java/com/pathplanner/lib/path/PathPlannerPath.html new file mode 100644 index 00000000..fd56228d --- /dev/null +++ b/docs/java/com/pathplanner/lib/path/PathPlannerPath.html @@ -0,0 +1,732 @@ + + + + + +PathPlannerPath (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.path
    +

    Class PathPlannerPath

    +
    +
    + +
    +
      +
    • +
      +
      public class PathPlannerPath
+extends Object
      +
      A PathPlanner path. NOTE: This is not a trajectory and isn't directly followed.
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathPlannerPath

          +
          public PathPlannerPath​(List<Translation2d> bezierPoints,
+                       List<RotationTarget> holonomicRotations,
+                       List<ConstraintsZone> constraintZones,
+                       List<EventMarker> eventMarkers,
+                       PathConstraints globalConstraints,
+                       GoalEndState goalEndState,
+                       boolean reversed)
          +
          Create a new path planner path
          +
          +
          Parameters:
          +
          bezierPoints - List of points representing the cubic Bezier curve of the path
          +
          holonomicRotations - List of rotation targets along the path
          +
          constraintZones - List of constraint zones along the path
          +
          eventMarkers - List of event markers along the path
          +
          globalConstraints - The global constraints of the path
          +
          goalEndState - The goal end state of the path
          +
          reversed - Should the robot follow the path reversed (differential drive only)
          +
          +
          • +
        + + + +
          +
        • +

          PathPlannerPath

          +
          public PathPlannerPath​(List<Translation2d> bezierPoints,
+                       PathConstraints constraints,
+                       GoalEndState goalEndState,
+                       boolean reversed)
          +
          Simplified constructor to create a path with no rotation targets, constraint zones, or event + markers. + +

          You likely want to use bezierFromPoses to create the bezier points.

          +
          +
          Parameters:
          +
          bezierPoints - List of points representing the cubic Bezier curve of the path
          +
          constraints - The global constraints of the path
          +
          goalEndState - The goal end state of the path
          +
          reversed - Should the robot follow the path reversed (differential drive only)
          +
          +
          • +
        + + + +
          +
        • +

          PathPlannerPath

          +
          public PathPlannerPath​(List<Translation2d> bezierPoints,
+                       PathConstraints constraints,
+                       GoalEndState goalEndState)
          +
          Simplified constructor to create a path with no rotation targets, constraint zones, or event + markers. + +

          You likely want to use bezierFromPoses to create the bezier points.

          +
          +
          Parameters:
          +
          bezierPoints - List of points representing the cubic Bezier curve of the path
          +
          constraints - The global constraints of the path
          +
          goalEndState - The goal end state of the path
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          fromPathPoints

          +
          public static PathPlannerPath fromPathPoints​(List<PathPoint> pathPoints,
+                                             PathConstraints constraints,
+                                             GoalEndState goalEndState)
          +
          Creat a path with pre-generated points. This should already be a smooth path.
          +
          +
          Parameters:
          +
          pathPoints - Path points along the smooth curve of the path
          +
          constraints - The global constraints of the path
          +
          goalEndState - The goal end state of the path
          +
          Returns:
          +
          A PathPlannerPath following the given pathpoints
          +
          +
          • +
        + + + +
          +
        • +

          bezierFromPoses

          +
          public static List<Translation2d> bezierFromPoses​(List<Pose2d> poses)
          +
          Create the bezier points necessary to create a path using a list of poses
          +
          +
          Parameters:
          +
          poses - List of poses. Each pose represents one waypoint.
          +
          Returns:
          +
          Bezier points
          +
          +
          • +
        + + + +
          +
        • +

          bezierFromPoses

          +
          public static List<Translation2d> bezierFromPoses​(Pose2d... poses)
          +
          Create the bezier points necessary to create a path using a list of poses
          +
          +
          Parameters:
          +
          poses - List of poses. Each pose represents one waypoint.
          +
          Returns:
          +
          Bezier points
          +
          +
          • +
        + + + +
          +
        • +

          hotReload

          +
          public void hotReload​(org.json.simple.JSONObject pathJson)
          +
          Hot reload the path. This is used internally.
          +
          +
          Parameters:
          +
          pathJson - Updated JSONObject for the path
          +
          +
          • +
        + + + +
          +
        • +

          fromPathFile

          +
          public static PathPlannerPath fromPathFile​(String pathName)
          +
          Load a path from a path file in storage
          +
          +
          Parameters:
          +
          pathName - The name of the path to load
          +
          Returns:
          +
          PathPlannerPath created from the given file name
          +
          +
          • +
        + + + +
          +
        • +

          getConstraintsForPoint

          +
          public PathConstraints getConstraintsForPoint​(int idx)
          +
          Get the constraints for a point along the path
          +
          +
          Parameters:
          +
          idx - Index of the point to get constraints for
          +
          Returns:
          +
          The constraints that should apply to the point
          +
          +
          • +
        + + + +
          +
        • +

          getAllPathPoints

          +
          public List<PathPoint> getAllPathPoints()
          +
          Get all the path points in this path
          +
          +
          Returns:
          +
          Path points in the path
          +
          +
          • +
        + + + +
          +
        • +

          numPoints

          +
          public int numPoints()
          +
          Get the number of points in this path
          +
          +
          Returns:
          +
          Number of points in the path
          +
          +
          • +
        + + + +
          +
        • +

          getPoint

          +
          public PathPoint getPoint​(int index)
          +
          Get a specific point along this path
          +
          +
          Parameters:
          +
          index - Index of the point to get
          +
          Returns:
          +
          The point at the given index
          +
          +
          • +
        + + + +
          +
        • +

          getGlobalConstraints

          +
          public PathConstraints getGlobalConstraints()
          +
          Get the global constraints for this path
          +
          +
          Returns:
          +
          Global constraints that apply to this path
          +
          +
          • +
        + + + +
          +
        • +

          getGoalEndState

          +
          public GoalEndState getGoalEndState()
          +
          Get the goal end state of this path
          +
          +
          Returns:
          +
          The goal end state
          +
          +
          • +
        + + + +
          +
        • +

          getEventMarkers

          +
          public List<EventMarker> getEventMarkers()
          +
          Get all the event markers for this path
          +
          +
          Returns:
          +
          The event markers for this path
          +
          +
          • +
        + + + +
          +
        • +

          isReversed

          +
          public boolean isReversed()
          +
          Should the path be followed reversed (differential drive only)
          +
          +
          Returns:
          +
          True if reversed
          +
          +
          • +
        + + + +
          +
        • +

          replan

          +
          public PathPlannerPath replan​(Pose2d startingPose,
+                              ChassisSpeeds currentSpeeds)
          +
          Replan this path based on the current robot position and speeds
          +
          +
          Parameters:
          +
          startingPose - New starting pose for the replanned path
          +
          currentSpeeds - Current chassis speeds of the robot
          +
          Returns:
          +
          The replanned path
          +
          +
          • +
        + + + +
          +
        • +

          equals

          +
          public boolean equals​(Object o)
          +
          +
          Overrides:
          +
          equals in class Object
          +
          +
          • +
        + + + +
          +
        • +

          hashCode

          +
          public int hashCode()
          +
          +
          Overrides:
          +
          hashCode in class Object
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/path/PathPlannerTrajectory.State.html b/docs/java/com/pathplanner/lib/path/PathPlannerTrajectory.State.html new file mode 100644 index 00000000..6166df18 --- /dev/null +++ b/docs/java/com/pathplanner/lib/path/PathPlannerTrajectory.State.html @@ -0,0 +1,571 @@ + + + + + +PathPlannerTrajectory.State (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.path
    +

    Class PathPlannerTrajectory.State

    +
    +
    +
      +
    • java.lang.Object
      • +
    • +
        +
      • com.pathplanner.lib.path.PathPlannerTrajectory.State
        • +
      +
      • +
    +
    +
      +
    • +
      +
      Enclosing class:
      +
      PathPlannerTrajectory
      +
      +
      +
      public static class PathPlannerTrajectory.State
+extends Object
      +
      A state along the trajectory
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Field Detail

        + + + +
          +
        • +

          timeSeconds

          +
          public double timeSeconds
          +
          The time at this state in seconds
          +
          • +
        + + + +
          +
        • +

          velocityMps

          +
          public double velocityMps
          +
          The velocity at this state in m/s
          +
          • +
        + + + +
          +
        • +

          accelerationMpsSq

          +
          public double accelerationMpsSq
          +
          The acceleration at this state in m/s^2
          +
          • +
        + + + +
          +
        • +

          headingAngularVelocityRps

          +
          public double headingAngularVelocityRps
          +
          The time at this state in seconds
          +
          • +
        + + + +
          +
        • +

          positionMeters

          +
          public Translation2d positionMeters
          +
          The position at this state in meters
          +
          • +
        + + + +
          +
        • +

          heading

          +
          public Rotation2d heading
          +
          The heading (direction of travel) at this state
          +
          • +
        + + + +
          +
        • +

          targetHolonomicRotation

          +
          public Rotation2d targetHolonomicRotation
          +
          The target holonomic rotation at this state
          +
          • +
        + + + +
          +
        • +

          curvatureRadPerMeter

          +
          public double curvatureRadPerMeter
          +
          The curvature at this state in rad/m
          +
          • +
        + + + +
          +
        • +

          constraints

          +
          public PathConstraints constraints
          +
          The constraints to apply at this state
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          State

          +
          public State()
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          interpolate

          +
          public PathPlannerTrajectory.State interpolate​(PathPlannerTrajectory.State endVal,
+                                               double t)
          +
          Interpolate between this state and the given state
          +
          +
          Parameters:
          +
          endVal - State to interpolate with
          +
          t - Interpolation factor (0.0-1.0)
          +
          Returns:
          +
          Interpolated state
          +
          +
          • +
        + + + +
          +
        • +

          getTargetHolonomicPose

          +
          public Pose2d getTargetHolonomicPose()
          +
          Get the target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning the + rotation will be the value of the next rotation target along the path, not what the rotation + should be at the start of the path
          +
          +
          Returns:
          +
          The target pose
          +
          +
          • +
        + + + +
          +
        • +

          getDifferentialPose

          +
          public Pose2d getDifferentialPose()
          +
          Get this pose for a differential drivetrain
          +
          +
          Returns:
          +
          The pose
          +
          +
          • +
        + + + +
          +
        • +

          reverse

          +
          public PathPlannerTrajectory.State reverse()
          +
          Get the state reversed, used for following a trajectory reversed with a differential + drivetrain
          +
          +
          Returns:
          +
          The reversed state
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/path/PathPlannerTrajectory.html b/docs/java/com/pathplanner/lib/path/PathPlannerTrajectory.html new file mode 100644 index 00000000..23a21b45 --- /dev/null +++ b/docs/java/com/pathplanner/lib/path/PathPlannerTrajectory.html @@ -0,0 +1,502 @@ + + + + + +PathPlannerTrajectory (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.path
    +

    Class PathPlannerTrajectory

    +
    +
    + +
    +
      +
    • +
      +
      public class PathPlannerTrajectory
+extends Object
      +
      Trajectory created from a pathplanner path
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathPlannerTrajectory

          +
          public PathPlannerTrajectory​(PathPlannerPath path,
+                             ChassisSpeeds startingSpeeds)
          +
          Generate a PathPlannerTrajectory
          +
          +
          Parameters:
          +
          path - PathPlannerPath to generate the trajectory for
          +
          startingSpeeds - Starting speeds of the robot when starting the trajectory
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          sample

          +
          public PathPlannerTrajectory.State sample​(double time)
          +
          Get the target state at the given point in time along the trajectory
          +
          +
          Parameters:
          +
          time - The time to sample the trajectory at in seconds
          +
          Returns:
          +
          The target state
          +
          +
          • +
        + + + +
          +
        • +

          getStates

          +
          public List<PathPlannerTrajectory.State> getStates()
          +
          Get all of the pre-generated states in the trajectory
          +
          +
          Returns:
          +
          List of all states
          +
          +
          • +
        + + + +
          +
        • +

          getTotalTimeSeconds

          +
          public double getTotalTimeSeconds()
          +
          Get the total run time of the trajectory
          +
          +
          Returns:
          +
          Total run time in seconds
          +
          +
          • +
        + + + +
          +
        • +

          getState

          +
          public PathPlannerTrajectory.State getState​(int index)
          +
          Get the goal state at the given index
          +
          +
          Parameters:
          +
          index - Index of the state to get
          +
          Returns:
          +
          The state at the given index
          +
          +
          • +
        + + + +
          +
        • +

          getInitialState

          +
          public PathPlannerTrajectory.State getInitialState()
          +
          Get the initial state of the trajectory
          +
          +
          Returns:
          +
          The initial state
          +
          +
          • +
        + + + +
          +
        • +

          getInitialTargetHolonomicPose

          +
          public Pose2d getInitialTargetHolonomicPose()
          +
          Get the initial target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning + the rotation will be the value of the next rotation target along the path, not what the + rotation should be at the start of the path
          +
          +
          Returns:
          +
          The initial target pose
          +
          +
          • +
        + + + +
          +
        • +

          getInitialDifferentialPose

          +
          public Pose2d getInitialDifferentialPose()
          +
          Get this initial pose for a differential drivetrain
          +
          +
          Returns:
          +
          The initial pose
          +
          +
          • +
        + + + +
          +
        • +

          getEndState

          +
          public PathPlannerTrajectory.State getEndState()
          +
          Get the end state of the trajectory
          +
          +
          Returns:
          +
          The end state
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/path/PathPoint.html b/docs/java/com/pathplanner/lib/path/PathPoint.html new file mode 100644 index 00000000..c747f41e --- /dev/null +++ b/docs/java/com/pathplanner/lib/path/PathPoint.html @@ -0,0 +1,493 @@ + + + + + +PathPoint (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.path
    +

    Class PathPoint

    +
    +
    + +
    +
      +
    • +
      +
      public class PathPoint
+extends Object
      +
      A point along a pathplanner path
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Field Detail

        + + + +
          +
        • +

          position

          +
          public final Translation2d position
          +
          The position of this point
          +
          • +
        + + + +
          +
        • +

          distanceAlongPath

          +
          public double distanceAlongPath
          +
          The distance of this point along the path, in meters
          +
          • +
        + + + +
          +
        • +

          curveRadius

          +
          public double curveRadius
          +
          The curve radius at this point
          +
          • +
        + + + +
          +
        • +

          maxV

          +
          public double maxV
          +
          The max velocity at this point
          +
          • +
        + + + +
          +
        • +

          holonomicRotation

          +
          public Rotation2d holonomicRotation
          +
          The target rotation at this point
          +
          • +
        + + + +
          +
        • +

          constraints

          +
          public PathConstraints constraints
          +
          The constraints applied to this point
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathPoint

          +
          public PathPoint​(Translation2d position,
+                 Rotation2d holonomicRotation,
+                 PathConstraints constraints)
          +
          Create a path point
          +
          +
          Parameters:
          +
          position - Position of the point
          +
          holonomicRotation - Rotation target at this point
          +
          constraints - The constraints at this point
          +
          +
          • +
        + + + +
          +
        • +

          PathPoint

          +
          public PathPoint​(Translation2d position,
+                 Rotation2d holonomicRotation)
          +
          Create a path point
          +
          +
          Parameters:
          +
          position - Position of the point
          +
          holonomicRotation - Rotation target at this point
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          equals

          +
          public boolean equals​(Object o)
          +
          +
          Overrides:
          +
          equals in class Object
          +
          +
          • +
        + + + +
          +
        • +

          hashCode

          +
          public int hashCode()
          +
          +
          Overrides:
          +
          hashCode in class Object
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/path/PathSegment.html b/docs/java/com/pathplanner/lib/path/PathSegment.html new file mode 100644 index 00000000..43bb6b98 --- /dev/null +++ b/docs/java/com/pathplanner/lib/path/PathSegment.html @@ -0,0 +1,418 @@ + + + + + +PathSegment (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.path
    +

    Class PathSegment

    +
    +
    + +
    +
      +
    • +
      +
      public class PathSegment
+extends Object
      +
      A bezier curve segment
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Field Detail

        + + + +
          +
        • +

          RESOLUTION

          +
          public static final double RESOLUTION
          +
          The resolution used during path generation
          +
          +
          See Also:
          +
          Constant Field Values
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathSegment

          +
          public PathSegment​(Translation2d p1,
+                   Translation2d p2,
+                   Translation2d p3,
+                   Translation2d p4,
+                   List<RotationTarget> targetHolonomicRotations,
+                   List<ConstraintsZone> constraintZones,
+                   boolean endSegment)
          +
          Generate a new path segment
          +
          +
          Parameters:
          +
          p1 - Start anchor point
          +
          p2 - Start next control
          +
          p3 - End prev control
          +
          p4 - End anchor point
          +
          targetHolonomicRotations - Rotation targets for within this segment
          +
          constraintZones - Constraint zones for within this segment
          +
          endSegment - Is this the last segment in the path
          +
          +
          • +
        + + + +
          +
        • +

          PathSegment

          +
          public PathSegment​(Translation2d p1,
+                   Translation2d p2,
+                   Translation2d p3,
+                   Translation2d p4,
+                   boolean endSegment)
          +
          Generate a new path segment without constraint zones or rotation targets
          +
          +
          Parameters:
          +
          p1 - Start anchor point
          +
          p2 - Start next control
          +
          p3 - End prev control
          +
          p4 - End anchor point
          +
          endSegment - Is this the last segment in the path
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          getSegmentPoints

          +
          public List<PathPoint> getSegmentPoints()
          +
          Get the path points for this segment
          +
          +
          Returns:
          +
          Path points for this segment
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/path/RotationTarget.html b/docs/java/com/pathplanner/lib/path/RotationTarget.html new file mode 100644 index 00000000..b6a555d5 --- /dev/null +++ b/docs/java/com/pathplanner/lib/path/RotationTarget.html @@ -0,0 +1,422 @@ + + + + + +RotationTarget (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.path
    +

    Class RotationTarget

    +
    +
    + +
    +
      +
    • +
      +
      public class RotationTarget
+extends Object
      +
      A target holonomic rotation at a position along a path
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          RotationTarget

          +
          public RotationTarget​(double waypointRelativePosition,
+                      Rotation2d target)
          +
          Create a new rotation target
          +
          +
          Parameters:
          +
          waypointRelativePosition - Waypoint relative position of this target
          +
          target - Target rotation
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          getPosition

          +
          public double getPosition()
          +
          Get the waypoint relative position of this target
          +
          +
          Returns:
          +
          Waypoint relative position
          +
          +
          • +
        + + + +
          +
        • +

          getTarget

          +
          public Rotation2d getTarget()
          +
          Get the target rotation
          +
          +
          Returns:
          +
          Target rotation
          +
          +
          • +
        + + + +
          +
        • +

          forSegmentIndex

          +
          public RotationTarget forSegmentIndex​(int segmentIndex)
          +
          Transform the position of this target for a given segment number. + +

          For example, a target with position 1.5 for the segment 1 will have the position 0.5

          +
          +
          Parameters:
          +
          segmentIndex - The segment index to transform position for
          +
          Returns:
          +
          The transformed target
          +
          +
          • +
        + + + +
          +
        • +

          equals

          +
          public boolean equals​(Object o)
          +
          +
          Overrides:
          +
          equals in class Object
          +
          +
          • +
        + + + +
          +
        • +

          hashCode

          +
          public int hashCode()
          +
          +
          Overrides:
          +
          hashCode in class Object
          +
          +
          • +
        + + + + +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/path/package-summary.html b/docs/java/com/pathplanner/lib/path/package-summary.html new file mode 100644 index 00000000..f6e7333d --- /dev/null +++ b/docs/java/com/pathplanner/lib/path/package-summary.html @@ -0,0 +1,220 @@ + + + + + +com.pathplanner.lib.path (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Package com.pathplanner.lib.path

    +
    +
    + +
    +
    +
    + +
    + + diff --git a/docs/java/com/pathplanner/lib/path/package-tree.html b/docs/java/com/pathplanner/lib/path/package-tree.html new file mode 100644 index 00000000..da961c84 --- /dev/null +++ b/docs/java/com/pathplanner/lib/path/package-tree.html @@ -0,0 +1,170 @@ + + + + + +com.pathplanner.lib.path Class Hierarchy (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Hierarchy For Package com.pathplanner.lib.path

    +Package Hierarchies: + +
    +
    +
    +

    Class Hierarchy

    + +
    +
    +
    + + + diff --git a/docs/java/com/pathplanner/lib/pathfinding/ADStar.GridPosition.html b/docs/java/com/pathplanner/lib/pathfinding/ADStar.GridPosition.html new file mode 100644 index 00000000..d4c40ac6 --- /dev/null +++ b/docs/java/com/pathplanner/lib/pathfinding/ADStar.GridPosition.html @@ -0,0 +1,444 @@ + + + + + +ADStar.GridPosition (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.pathfinding
    +

    Class ADStar.GridPosition

    +
    +
    +
      +
    • java.lang.Object
      • +
    • +
        +
      • com.pathplanner.lib.pathfinding.ADStar.GridPosition
        • +
      +
      • +
    +
    + +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Field Detail

        + + + +
          +
        • +

          x

          +
          public final int x
          +
          X index in the grid
          +
          • +
        + + + +
          +
        • +

          y

          +
          public final int y
          +
          Y index in the grid
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          GridPosition

          +
          public GridPosition​(int x,
+                    int y)
          +
          Create a node within the pathfinding grid
          +
          +
          Parameters:
          +
          x - X index in the grid
          +
          y - Y index in the grid
          +
          +
          • +
        +
        • +
      +
      + +
      + +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/pathfinding/ADStar.html b/docs/java/com/pathplanner/lib/pathfinding/ADStar.html new file mode 100644 index 00000000..e42f5870 --- /dev/null +++ b/docs/java/com/pathplanner/lib/pathfinding/ADStar.html @@ -0,0 +1,472 @@ + + + + + +ADStar (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.pathfinding
    +

    Class ADStar

    +
    +
    + +
    +
      +
    • +
      +
      public class ADStar
+extends Object
      +
      Implementation of the AD* pathfinding algorithm
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          ADStar

          +
          public ADStar()
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          ensureInitialized

          +
          public static void ensureInitialized()
          +
          Ensure that the pathfinding thread is initialized and running. + +

          This will do nothing if already initialized

          +
          • +
        + + + +
          +
        • +

          isNewPathAvailable

          +
          public static boolean isNewPathAvailable()
          +
          Get if a new path has been calculated since the last time a path was retrieved
          +
          +
          Returns:
          +
          True if a new path is available
          +
          +
          • +
        + + + +
          +
        • +

          getCurrentPath

          +
          public static List<Translation2d> getCurrentPath()
          +
          Get the most recently calculated path
          +
          +
          Returns:
          +
          The bezier points representing a path
          +
          +
          • +
        + + + +
          +
        • +

          setStartPos

          +
          public static void setStartPos​(Translation2d start)
          +
          Set the start position to pathfind from
          +
          +
          Parameters:
          +
          start - Start position on the field. If this is within an obstacle it will be moved to the + nearest non-obstacle node.
          +
          +
          • +
        + + + +
          +
        • +

          setGoalPos

          +
          public static void setGoalPos​(Translation2d goal)
          +
          Set the goal position to pathfind to
          +
          +
          Parameters:
          +
          goal - Goal position on the field. f this is within an obstacle it will be moved to the + nearest non-obstacle node.
          +
          +
          • +
        + + + +
          +
        • +

          setDynamicObstacles

          +
          public static void setDynamicObstacles​(List<Pair<Translation2d,​Translation2d>> obs,
+                                       Translation2d currentRobotPos)
          +
          Set the dynamic obstacles that should be avoided while pathfinding. This is an advanced usage + feature. This can do some weird things so you should become very familiar with how this will + work before being anywhere near comfortable using it in competition.
          +
          +
          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 if the robot is now within an obstacle.
          +
          +
          • +
        + + + +
          +
        • +

          getGridPos

          +
          public static ADStar.GridPosition getGridPos​(Translation2d pos)
          +
          Converts a Translation2d into a grid position
          +
          +
          Parameters:
          +
          pos - Position on the field
          +
          Returns:
          +
          The gird position containing the translation
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/pathfinding/package-summary.html b/docs/java/com/pathplanner/lib/pathfinding/package-summary.html new file mode 100644 index 00000000..1dc5dce6 --- /dev/null +++ b/docs/java/com/pathplanner/lib/pathfinding/package-summary.html @@ -0,0 +1,172 @@ + + + + + +com.pathplanner.lib.pathfinding (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Package com.pathplanner.lib.pathfinding

    +
    +
    +
      +
    • + + + + + + + + + + + + + + + + +
      Class Summary 
      ClassDescription
      ADStar +
      Implementation of the AD* pathfinding algorithm
      +
      ADStar.GridPosition +
      Represents a node in the pathfinding grid
      +
      +
      • +
    +
    +
    +
    + +
    + + diff --git a/docs/java/com/pathplanner/lib/pathfinding/package-tree.html b/docs/java/com/pathplanner/lib/pathfinding/package-tree.html new file mode 100644 index 00000000..1c77d327 --- /dev/null +++ b/docs/java/com/pathplanner/lib/pathfinding/package-tree.html @@ -0,0 +1,162 @@ + + + + + +com.pathplanner.lib.pathfinding Class Hierarchy (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Hierarchy For Package com.pathplanner.lib.pathfinding

    +Package Hierarchies: + +
    +
    +
    +

    Class Hierarchy

    + +
    +
    +
    + + + diff --git a/docs/java/com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html b/docs/java/com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html new file mode 100644 index 00000000..3a9c92d2 --- /dev/null +++ b/docs/java/com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html @@ -0,0 +1,398 @@ + + + + + +ChassisSpeedsRateLimiter (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.util
    +

    Class ChassisSpeedsRateLimiter

    +
    +
    + +
    +
      +
    • +
      +
      public class ChassisSpeedsRateLimiter
+extends Object
      +
      Essentially a slew rate limiter for chassis speeds + +

      This will properly apply a linear acceleration limit to the chassis speeds instead of applying + it separately with 2 X/Y slew rate limiters

      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          ChassisSpeedsRateLimiter

          +
          public ChassisSpeedsRateLimiter​(double translationRateLimit,
+                                double rotationRateLimit,
+                                ChassisSpeeds initialValue)
          +
          Create a new chassis speeds limiter
          +
          +
          Parameters:
          +
          translationRateLimit - The linear acceleration limit
          +
          rotationRateLimit - The angular acceleration limit
          +
          initialValue - The initial chassis speeds value
          +
          +
          • +
        + + + +
          +
        • +

          ChassisSpeedsRateLimiter

          +
          public ChassisSpeedsRateLimiter​(double translationRateLimit,
+                                double rotationRateLimit)
          +
          Create a new chassis speeds limiter
          +
          +
          Parameters:
          +
          translationRateLimit - The linear acceleration limit
          +
          rotationRateLimit - The angular acceleration limit
          +
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          reset

          +
          public void reset​(ChassisSpeeds value)
          +
          Reset the limiter
          +
          +
          Parameters:
          +
          value - The chassis speeds to reset with
          +
          +
          • +
        + + + +
          +
        • +

          setRateLimits

          +
          public void setRateLimits​(double translationRateLimit,
+                          double rotationRateLimit)
          +
          Set the acceleration limits
          +
          +
          Parameters:
          +
          translationRateLimit - Linear acceleration limit
          +
          rotationRateLimit - Angular acceleration limit
          +
          +
          • +
        + + + +
          +
        • +

          calculate

          +
          public ChassisSpeeds calculate​(ChassisSpeeds input)
          +
          Calculate the limited chassis speeds for a given input
          +
          +
          Parameters:
          +
          input - The target chassis speeds
          +
          Returns:
          +
          The limited chassis speeds
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/util/GeometryUtil.html b/docs/java/com/pathplanner/lib/util/GeometryUtil.html new file mode 100644 index 00000000..c1fafd0d --- /dev/null +++ b/docs/java/com/pathplanner/lib/util/GeometryUtil.html @@ -0,0 +1,474 @@ + + + + + +GeometryUtil (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.util
    +

    Class GeometryUtil

    +
    +
    + +
    +
      +
    • +
      +
      public class GeometryUtil
+extends Object
      +
      Utility class for various geometry functions used during generation
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          GeometryUtil

          +
          public GeometryUtil()
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          doubleLerp

          +
          public static double doubleLerp​(double startVal,
+                                double endVal,
+                                double t)
          +
          Interpolate between two doubles
          +
          +
          Parameters:
          +
          startVal - Start value
          +
          endVal - End value
          +
          t - Interpolation factor (0.0-1.0)
          +
          Returns:
          +
          Interpolated value
          +
          +
          • +
        + + + +
          +
        • +

          rotationLerp

          +
          public static Rotation2d rotationLerp​(Rotation2d startVal,
+                                      Rotation2d endVal,
+                                      double t)
          +
          Interpolate between two Rotation2ds
          +
          +
          Parameters:
          +
          startVal - Start value
          +
          endVal - End value
          +
          t - Interpolation factor (0.0-1.0)
          +
          Returns:
          +
          Interpolated value
          +
          +
          • +
        + + + +
          +
        • +

          translationLerp

          +
          public static Translation2d translationLerp​(Translation2d a,
+                                            Translation2d b,
+                                            double t)
          +
          Linear interpolation between Translation2ds
          +
          +
          Parameters:
          +
          a - Position 1
          +
          b - Position 2
          +
          t - Interpolation factor (0.0-1.0)
          +
          Returns:
          +
          Interpolated value
          +
          +
          • +
        + + + +
          +
        • +

          quadraticLerp

          +
          public static Translation2d quadraticLerp​(Translation2d a,
+                                          Translation2d b,
+                                          Translation2d c,
+                                          double t)
          +
          Cubic interpolation between Translation2ds
          +
          +
          Parameters:
          +
          a - Position 1
          +
          b - Position 2
          +
          c - Position 3
          +
          t - Interpolation factor (0.0-1.0)
          +
          Returns:
          +
          Interpolated value
          +
          +
          • +
        + + + +
          +
        • +

          cubicLerp

          +
          public static Translation2d cubicLerp​(Translation2d a,
+                                      Translation2d b,
+                                      Translation2d c,
+                                      Translation2d d,
+                                      double t)
          +
          Quadratic interpolation between Translation2ds
          +
          +
          Parameters:
          +
          a - Position 1
          +
          b - Position 2
          +
          c - Position 3
          +
          d - Position 4
          +
          t - Interpolation factor (0.0-1.0)
          +
          Returns:
          +
          Interpolated value
          +
          +
          • +
        + + + +
          +
        • +

          calculateRadius

          +
          public static double calculateRadius​(Translation2d a,
+                                     Translation2d b,
+                                     Translation2d c)
          +
          Calculate the curve radius given 3 points on the curve
          +
          +
          Parameters:
          +
          a - Point A
          +
          b - Point B
          +
          c - Point C
          +
          Returns:
          +
          Curve radius
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/util/HolonomicPathFollowerConfig.html b/docs/java/com/pathplanner/lib/util/HolonomicPathFollowerConfig.html new file mode 100644 index 00000000..d63a13e0 --- /dev/null +++ b/docs/java/com/pathplanner/lib/util/HolonomicPathFollowerConfig.html @@ -0,0 +1,517 @@ + + + + + +HolonomicPathFollowerConfig (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.util
    +

    Class HolonomicPathFollowerConfig

    +
    +
    +
      +
    • java.lang.Object
      • +
    • +
        +
      • com.pathplanner.lib.util.HolonomicPathFollowerConfig
        • +
      +
      • +
    +
    +
      +
    • +
      +
      public class HolonomicPathFollowerConfig
+extends Object
      +
      Configuration for the holonomic path following commands
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Field Detail

        + + + +
          +
        • +

          translationConstants

          +
          public final PIDConstants translationConstants
          +
          PIDConstants used for translation PID controllers
          +
          • +
        + + + +
          +
        • +

          rotationConstants

          +
          public final PIDConstants rotationConstants
          +
          PIDConstants used for rotation PID controllers
          +
          • +
        + + + +
          +
        • +

          maxModuleSpeed

          +
          public final double maxModuleSpeed
          +
          Max speed of a drive module in m/s
          +
          • +
        + + + +
          +
        • +

          driveBaseRadius

          +
          public final double driveBaseRadius
          +
          Radius of the drive base in meters
          +
          • +
        + + + +
          +
        • +

          replanningConfig

          +
          public final ReplanningConfig replanningConfig
          +
          Path replanning config
          +
          • +
        + + + +
          +
        • +

          period

          +
          public final double period
          +
          Period of the robot control loop in seconds
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          HolonomicPathFollowerConfig

          +
          public HolonomicPathFollowerConfig​(PIDConstants translationConstants,
+                                   PIDConstants rotationConstants,
+                                   double maxModuleSpeed,
+                                   double driveBaseRadius,
+                                   ReplanningConfig replanningConfig,
+                                   double period)
          +
          Create a new holonomic path follower config
          +
          +
          Parameters:
          +
          translationConstants - PIDConstants used for creating the + translation PID controllers
          +
          rotationConstants - PIDConstants used for creating the + rotation PID controller
          +
          maxModuleSpeed - Max speed of an individual drive module in meters/sec
          +
          driveBaseRadius - The radius of the drive base in meters. This is the distance from the + center of the robot to the furthest module.
          +
          replanningConfig - Path replanning configuration
          +
          period - Control loop period in seconds (Default = 0.02)
          +
          +
          • +
        + + + +
          +
        • +

          HolonomicPathFollowerConfig

          +
          public HolonomicPathFollowerConfig​(PIDConstants translationConstants,
+                                   PIDConstants rotationConstants,
+                                   double maxModuleSpeed,
+                                   double driveBaseRadius,
+                                   ReplanningConfig replanningConfig)
          +
          Create a new holonomic path follower config
          +
          +
          Parameters:
          +
          translationConstants - PIDConstants used for creating the + translation PID controllers
          +
          rotationConstants - PIDConstants used for creating the + rotation PID controller
          +
          maxModuleSpeed - Max speed of an individual drive module in meters/sec
          +
          driveBaseRadius - The radius of the drive base in meters. For swerve drive, this is the + distance from the center of the robot to the furthest module. For mecanum, this is the + drive base width / 2
          +
          replanningConfig - Path replanning configuration
          +
          +
          • +
        + + + +
          +
        • +

          HolonomicPathFollowerConfig

          +
          public HolonomicPathFollowerConfig​(double maxModuleSpeed,
+                                   double driveBaseRadius,
+                                   ReplanningConfig replanningConfig,
+                                   double period)
          +
          Create a new holonomic path follower config
          +
          +
          Parameters:
          +
          maxModuleSpeed - Max speed of an individual drive module in meters/sec
          +
          driveBaseRadius - The radius of the drive base in meters. For swerve drive, this is the + distance from the center of the robot to the furthest module. For mecanum, this is the + drive base width / 2
          +
          replanningConfig - Path replanning configuration
          +
          period - Control loop period in seconds (Default = 0.02)
          +
          +
          • +
        + + + +
          +
        • +

          HolonomicPathFollowerConfig

          +
          public HolonomicPathFollowerConfig​(double maxModuleSpeed,
+                                   double driveBaseRadius,
+                                   ReplanningConfig replanningConfig)
          +
          Create a new holonomic path follower config
          +
          +
          Parameters:
          +
          maxModuleSpeed - Max speed of an individual drive module in meters/sec
          +
          driveBaseRadius - The radius of the drive base in meters. For swerve drive, this is the + distance from the center of the robot to the furthest module. For mecanum, this is the + drive base width / 2
          +
          replanningConfig - Path replanning configuration
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/util/PIDConstants.html b/docs/java/com/pathplanner/lib/util/PIDConstants.html new file mode 100644 index 00000000..379e3eb5 --- /dev/null +++ b/docs/java/com/pathplanner/lib/util/PIDConstants.html @@ -0,0 +1,448 @@ + + + + + +PIDConstants (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.util
    +

    Class PIDConstants

    +
    +
    + +
    +
      +
    • +
      +
      public class PIDConstants
+extends Object
      +
      PID constants used to create PID controllers
      +
      • +
    +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Field Summary

        + + + + + + + + + + + + + + + + + + + + + + + + + + + +
        Fields 
        Modifier and TypeFieldDescription
        doubleiZone +
        Integral range
        +
        doublekD +
        D
        +
        doublekI +
        I
        +
        doublekP +
        P
        +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Constructor Summary

        + + + + + + + + + + + + + + + + + + + + + + +
        Constructors 
        ConstructorDescription
        PIDConstants​(double kP) +
        Create a new PIDConstants object
        +
        PIDConstants​(double kP, + double kD) +
        Create a new PIDConstants object
        +
        PIDConstants​(double kP, + double kI, + double kD) +
        Create a new PIDConstants object
        +
        PIDConstants​(double kP, + double kI, + double kD, + double iZone) +
        Create a new PIDConstants object
        +
        +
        • +
      +
      + +
      + +
      +
      • +
    +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Field Detail

        + + + +
          +
        • +

          kP

          +
          public final double kP
          +
          P
          +
          • +
        + + + +
          +
        • +

          kI

          +
          public final double kI
          +
          I
          +
          • +
        + + + +
          +
        • +

          kD

          +
          public final double kD
          +
          D
          +
          • +
        + + + +
          +
        • +

          iZone

          +
          public final double iZone
          +
          Integral range
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PIDConstants

          +
          public PIDConstants​(double kP,
+                    double kI,
+                    double kD,
+                    double iZone)
          +
          Create a new PIDConstants object
          +
          +
          Parameters:
          +
          kP - P
          +
          kI - I
          +
          kD - D
          +
          iZone - Integral range
          +
          +
          • +
        + + + +
          +
        • +

          PIDConstants

          +
          public PIDConstants​(double kP,
+                    double kI,
+                    double kD)
          +
          Create a new PIDConstants object
          +
          +
          Parameters:
          +
          kP - P
          +
          kI - I
          +
          kD - D
          +
          +
          • +
        + + + +
          +
        • +

          PIDConstants

          +
          public PIDConstants​(double kP,
+                    double kD)
          +
          Create a new PIDConstants object
          +
          +
          Parameters:
          +
          kP - P
          +
          kD - D
          +
          +
          • +
        + + + +
          +
        • +

          PIDConstants

          +
          public PIDConstants​(double kP)
          +
          Create a new PIDConstants object
          +
          +
          Parameters:
          +
          kP - P
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/util/PPLibTelemetry.html b/docs/java/com/pathplanner/lib/util/PPLibTelemetry.html new file mode 100644 index 00000000..cd5c3aac --- /dev/null +++ b/docs/java/com/pathplanner/lib/util/PPLibTelemetry.html @@ -0,0 +1,470 @@ + + + + + +PPLibTelemetry (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.util
    +

    Class PPLibTelemetry

    +
    +
    + +
    +
      +
    • +
      +
      public class PPLibTelemetry
+extends Object
      +
      Utility class for sending data to the PathPlanner app via NT4
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PPLibTelemetry

          +
          public PPLibTelemetry()
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          enableCompetitionMode

          +
          public static void enableCompetitionMode()
          +
          Enable competition mode. This will disable all telemetry and hot reload.
          +
          • +
        + + + +
          +
        • +

          setVelocities

          +
          public static void setVelocities​(double actualVel,
+                                 double commandedVel,
+                                 double actualAngVel,
+                                 double commandedAngVel)
          +
          Set the path following actual/target velocities
          +
          +
          Parameters:
          +
          actualVel - Actual robot velocity in m/s
          +
          commandedVel - Target robot velocity in m/s
          +
          actualAngVel - Actual angular velocity in rad/s
          +
          commandedAngVel - Target angular velocity in rad/s
          +
          +
          • +
        + + + +
          +
        • +

          setPathInaccuracy

          +
          public static void setPathInaccuracy​(double inaccuracy)
          +
          Set the path following inaccuracy
          +
          +
          Parameters:
          +
          inaccuracy - Inaccuracy in meters
          +
          +
          • +
        + + + +
          +
        • +

          setCurrentPose

          +
          public static void setCurrentPose​(Pose2d pose)
          +
          Set the current robot pose
          +
          +
          Parameters:
          +
          pose - Current robot pose
          +
          +
          • +
        + + + +
          +
        • +

          setCurrentPath

          +
          public static void setCurrentPath​(PathPlannerPath path)
          +
          Set the current path being followed
          +
          +
          Parameters:
          +
          path - The current path
          +
          +
          • +
        + + + +
          +
        • +

          setTargetPose

          +
          public static void setTargetPose​(Pose2d targetPose)
          +
          Set the target robot pose
          +
          +
          Parameters:
          +
          targetPose - Target robot pose
          +
          +
          • +
        + + + +
          +
        • +

          registerHotReloadPath

          +
          public static void registerHotReloadPath​(String pathName,
+                                         PathPlannerPath path)
          +
          Register a path for hot reload. This is used internally.
          +
          +
          Parameters:
          +
          pathName - Name of the path
          +
          path - Reference to the path
          +
          +
          • +
        + + + +
          +
        • +

          registerHotReloadAuto

          +
          public static void registerHotReloadAuto​(String autoName,
+                                         PathPlannerAuto auto)
          +
          Register an auto for hot reload. This is used internally.
          +
          +
          Parameters:
          +
          autoName - Name of the auto
          +
          auto - Reference to the auto
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/util/PathPlannerLogging.html b/docs/java/com/pathplanner/lib/util/PathPlannerLogging.html new file mode 100644 index 00000000..fc6beef4 --- /dev/null +++ b/docs/java/com/pathplanner/lib/util/PathPlannerLogging.html @@ -0,0 +1,420 @@ + + + + + +PathPlannerLogging (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.util
    +

    Class PathPlannerLogging

    +
    +
    + +
    +
      +
    • +
      +
      public class PathPlannerLogging
+extends Object
      +
      Utility class for handling custom logging callbacks
      +
      • +
    +
    +
    + +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          PathPlannerLogging

          +
          public PathPlannerLogging()
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Method Detail

        + + + +
          +
        • +

          setLogCurrentPoseCallback

          +
          public static void setLogCurrentPoseCallback​(Consumer<Pose2d> logCurrentPose)
          +
          Set the logging callback for the current robot pose
          +
          +
          Parameters:
          +
          logCurrentPose - Consumer that accepts the current robot pose. Can be null to disable + logging this value.
          +
          +
          • +
        + + + +
          +
        • +

          setLogTargetPoseCallback

          +
          public static void setLogTargetPoseCallback​(Consumer<Pose2d> logTargetPose)
          +
          Set the logging callback for the target robot pose
          +
          +
          Parameters:
          +
          logTargetPose - Consumer that accepts the target robot pose. Can be null to disable + logging this value.
          +
          +
          • +
        + + + +
          +
        • +

          setLogActivePathCallback

          +
          public static void setLogActivePathCallback​(Consumer<List<Pose2d>> logActivePath)
          +
          Set the logging callback for the active path
          +
          +
          Parameters:
          +
          logActivePath - Consumer that accepts the active path as a list of poses. Can be null to + disable logging this value.
          +
          +
          • +
        + + + +
          +
        • +

          logCurrentPose

          +
          public static void logCurrentPose​(Pose2d pose)
          +
          Log the current robot pose. This is used internally.
          +
          +
          Parameters:
          +
          pose - The current robot pose
          +
          +
          • +
        + + + +
          +
        • +

          logTargetPose

          +
          public static void logTargetPose​(Pose2d targetPose)
          +
          Log the target robot pose. This is used internally.
          +
          +
          Parameters:
          +
          targetPose - The target robot pose
          +
          +
          • +
        + + + +
          +
        • +

          logActivePath

          +
          public static void logActivePath​(PathPlannerPath path)
          +
          Log the active path. This is used internally.
          +
          +
          Parameters:
          +
          path - The active path
          +
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/util/ReplanningConfig.html b/docs/java/com/pathplanner/lib/util/ReplanningConfig.html new file mode 100644 index 00000000..f9aece44 --- /dev/null +++ b/docs/java/com/pathplanner/lib/util/ReplanningConfig.html @@ -0,0 +1,429 @@ + + + + + +ReplanningConfig (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    + +
    +
    +
    Package com.pathplanner.lib.util
    +

    Class ReplanningConfig

    +
    +
    + +
    +
      +
    • +
      +
      public class ReplanningConfig
+extends Object
      +
      Configuration for path replanning
      +
      • +
    +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Field Summary

        + + + + + + + + + + + + + + + + + + + + + + + + + + + +
        Fields 
        Modifier and TypeFieldDescription
        doubledynamicReplanningErrorSpikeThreshold +
        The error spike threshold, in meters, that will cause the path to be replanned
        +
        doubledynamicReplanningTotalErrorThreshold +
        The total error threshold, in meters, that will cause the path to be replanned
        +
        booleanenableDynamicReplanning +
        Should the path be replanned if the error grows too large or if a large error spike happens + while following the path?
        +
        booleanenableInitialReplanning +
        Should the path be replanned at the start of path following if the robot is not already at the + starting point?
        +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Constructor Summary

        + + + + + + + + + + + + + + + + + + +
        Constructors 
        ConstructorDescription
        ReplanningConfig() +
        Create a path replanning configuration with the default config.
        +
        ReplanningConfig​(boolean enableInitialReplanning, + boolean enableDynamicReplanning) +
        Create a path replanning configuration with default dynamic replanning error thresholds
        +
        ReplanningConfig​(boolean enableInitialReplanning, + boolean enableDynamicReplanning, + double dynamicReplanningTotalErrorThreshold, + double dynamicReplanningErrorSpikeThreshold) +
        Create a path replanning configuration
        +
        +
        • +
      +
      + +
      + +
      +
      • +
    +
    +
    +
      +
    • + +
      +
        +
      • + + +

        Field Detail

        + + + +
          +
        • +

          enableInitialReplanning

          +
          public final boolean enableInitialReplanning
          +
          Should the path be replanned at the start of path following if the robot is not already at the + starting point?
          +
          • +
        + + + +
          +
        • +

          enableDynamicReplanning

          +
          public final boolean enableDynamicReplanning
          +
          Should the path be replanned if the error grows too large or if a large error spike happens + while following the path?
          +
          • +
        + + + +
          +
        • +

          dynamicReplanningTotalErrorThreshold

          +
          public final double dynamicReplanningTotalErrorThreshold
          +
          The total error threshold, in meters, that will cause the path to be replanned
          +
          • +
        + + + +
          +
        • +

          dynamicReplanningErrorSpikeThreshold

          +
          public final double dynamicReplanningErrorSpikeThreshold
          +
          The error spike threshold, in meters, that will cause the path to be replanned
          +
          • +
        +
        • +
      +
      + +
      +
        +
      • + + +

        Constructor Detail

        + + + +
          +
        • +

          ReplanningConfig

          +
          public ReplanningConfig​(boolean enableInitialReplanning,
+                        boolean enableDynamicReplanning,
+                        double dynamicReplanningTotalErrorThreshold,
+                        double dynamicReplanningErrorSpikeThreshold)
          +
          Create a path replanning configuration
          +
          +
          Parameters:
          +
          enableInitialReplanning - Should the path be replanned at the start of path following if + the robot is not already at the starting point?
          +
          enableDynamicReplanning - Should the path be replanned if the error grows too large or if + a large error spike happens while following the path?
          +
          dynamicReplanningTotalErrorThreshold - The total error threshold, in meters, that will + cause the path to be replanned
          +
          dynamicReplanningErrorSpikeThreshold - The error spike threshold, in meters, that will + cause the path to be replanned
          +
          +
          • +
        + + + +
          +
        • +

          ReplanningConfig

          +
          public ReplanningConfig​(boolean enableInitialReplanning,
+                        boolean enableDynamicReplanning)
          +
          Create a path replanning configuration with default dynamic replanning error thresholds
          +
          +
          Parameters:
          +
          enableInitialReplanning - Should the path be replanned at the start of path following if + the robot is not already at the starting point?
          +
          enableDynamicReplanning - Should the path be replanned if the error grows too large or if + a large error spike happens while following the path?
          +
          +
          • +
        + + + +
          +
        • +

          ReplanningConfig

          +
          public ReplanningConfig()
          +
          Create a path replanning configuration with the default config. This will only have initial + replanning enabled.
          +
          • +
        +
        • +
      +
      +
      • +
    +
    +
    +
    + + + + diff --git a/docs/java/com/pathplanner/lib/util/package-summary.html b/docs/java/com/pathplanner/lib/util/package-summary.html new file mode 100644 index 00000000..9fd6aafb --- /dev/null +++ b/docs/java/com/pathplanner/lib/util/package-summary.html @@ -0,0 +1,202 @@ + + + + + +com.pathplanner.lib.util (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Package com.pathplanner.lib.util

    +
    +
    +
      +
    • + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      Class Summary 
      ClassDescription
      ChassisSpeedsRateLimiter +
      Essentially a slew rate limiter for chassis speeds
      +
      GeometryUtil +
      Utility class for various geometry functions used during generation
      +
      HolonomicPathFollowerConfig +
      Configuration for the holonomic path following commands
      +
      PathPlannerLogging +
      Utility class for handling custom logging callbacks
      +
      PIDConstants +
      PID constants used to create PID controllers
      +
      PPLibTelemetry +
      Utility class for sending data to the PathPlanner app via NT4
      +
      ReplanningConfig +
      Configuration for path replanning
      +
      +
      • +
    +
    +
    +
    + +
    + + diff --git a/docs/java/com/pathplanner/lib/util/package-tree.html b/docs/java/com/pathplanner/lib/util/package-tree.html new file mode 100644 index 00000000..d22a01a4 --- /dev/null +++ b/docs/java/com/pathplanner/lib/util/package-tree.html @@ -0,0 +1,167 @@ + + + + + +com.pathplanner.lib.util Class Hierarchy (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Hierarchy For Package com.pathplanner.lib.util

    +Package Hierarchies: + +
    +
    +
    +

    Class Hierarchy

    + +
    +
    +
    + + + diff --git a/docs/java/constant-values.html b/docs/java/constant-values.html new file mode 100644 index 00000000..856f69b8 --- /dev/null +++ b/docs/java/constant-values.html @@ -0,0 +1,179 @@ + + + + + +Constant Field Values (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Constant Field Values

    +
    +

    Contents

    + +
    +
    +
    + + +
    +

    com.pathplanner.*

    +
      +
    • + + + + + + + + + + + + + + +
      com.pathplanner.lib.path.PathSegment 
      Modifier and TypeConstant FieldValue
      + +public static final doubleRESOLUTION0.05
      +
      • +
    +
    +
    +
    +
    + +
    + + diff --git a/docs/java/deprecated-list.html b/docs/java/deprecated-list.html new file mode 100644 index 00000000..4aecd88e --- /dev/null +++ b/docs/java/deprecated-list.html @@ -0,0 +1,146 @@ + + + + + +Deprecated List (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Deprecated API

    +

    Contents

    +
    +
    +
    + +
    + + diff --git a/docs/java/element-list b/docs/java/element-list new file mode 100644 index 00000000..9235aa18 --- /dev/null +++ b/docs/java/element-list @@ -0,0 +1,6 @@ +com.pathplanner.lib.auto +com.pathplanner.lib.commands +com.pathplanner.lib.controllers +com.pathplanner.lib.path +com.pathplanner.lib.pathfinding +com.pathplanner.lib.util diff --git a/docs/java/help-doc.html b/docs/java/help-doc.html new file mode 100644 index 00000000..6e03a670 --- /dev/null +++ b/docs/java/help-doc.html @@ -0,0 +1,272 @@ + + + + + +API Help (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    How This API Document Is Organized

    +
    This API (Application Programming Interface) document has pages corresponding to the items in the navigation bar, described as follows.
    +
    +
    +
      +
    • +
      +

      Overview

      +

      The Overview page is the front page of this API document and provides a list of all packages with a summary for each. This page can also contain an overall description of the set of packages.

      +
      +
      • +
    • +
      +

      Package

      +

      Each package has a page that contains a list of its classes and interfaces, with a summary for each. These pages may contain six categories:

      +
        +
      • Interfaces
        • +
      • Classes
        • +
      • Enums
        • +
      • Exceptions
        • +
      • Errors
        • +
      • Annotation Types
        • +
      +
      +
      • +
    • +
      +

      Class or Interface

      +

      Each class, interface, nested class and nested interface has its own separate page. Each of these pages has three sections consisting of a class/interface description, summary tables, and detailed member descriptions:

      +
        +
      • Class Inheritance Diagram
        • +
      • Direct Subclasses
        • +
      • All Known Subinterfaces
        • +
      • All Known Implementing Classes
        • +
      • Class or Interface Declaration
        • +
      • Class or Interface Description
        • +
      +
      +
        +
      • Nested Class Summary
        • +
      • Field Summary
        • +
      • Property Summary
        • +
      • Constructor Summary
        • +
      • Method Summary
        • +
      +
      +
        +
      • Field Detail
        • +
      • Property Detail
        • +
      • Constructor Detail
        • +
      • Method Detail
        • +
      +

      Each summary entry contains the first sentence from the detailed description for that item. The summary entries are alphabetical, while the detailed descriptions are in the order they appear in the source code. This preserves the logical groupings established by the programmer.

      +
      +
      • +
    • +
      +

      Annotation Type

      +

      Each annotation type has its own separate page with the following sections:

      +
        +
      • Annotation Type Declaration
        • +
      • Annotation Type Description
        • +
      • Required Element Summary
        • +
      • Optional Element Summary
        • +
      • Element Detail
        • +
      +
      +
      • +
    • +
      +

      Enum

      +

      Each enum has its own separate page with the following sections:

      +
        +
      • Enum Declaration
        • +
      • Enum Description
        • +
      • Enum Constant Summary
        • +
      • Enum Constant Detail
        • +
      +
      +
      • +
    • +
      +

      Tree (Class Hierarchy)

      +

      There is a Class Hierarchy page for all packages, plus a hierarchy for each package. Each hierarchy page contains a list of classes and a list of interfaces. Classes are organized by inheritance structure starting with java.lang.Object. Interfaces do not inherit from java.lang.Object.

      +
        +
      • When viewing the Overview page, clicking on "Tree" displays the hierarchy for all packages.
        • +
      • When viewing a particular package, class or interface page, clicking on "Tree" displays the hierarchy for only that package.
        • +
      +
      +
      • +
    • +
      +

      Deprecated API

      +

      The Deprecated API page lists all of the API that have been deprecated. A deprecated API is not recommended for use, generally due to improvements, and a replacement API is usually given. Deprecated APIs may be removed in future implementations.

      +
      +
      • +
    • +
      +

      Index

      +

      The Index contains an alphabetic index of all classes, interfaces, constructors, methods, and fields, as well as lists of all packages and all classes.

      +
      +
      • +
    • +
      +

      All Classes

      +

      The All Classes link shows all classes and interfaces except non-static nested types.

      +
      +
      • +
    • +
      +

      Serialized Form

      +

      Each serializable or externalizable class has a description of its serialization fields and methods. This information is of interest to re-implementors, not to developers using the API. While there is no link in the navigation bar, you can get to this information by going to any serialized class and clicking "Serialized Form" in the "See also" section of the class description.

      +
      +
      • +
    • +
      +

      Constant Field Values

      +

      The Constant Field Values page lists the static final fields and their values.

      +
      +
      • +
    • +
      +

      Search

      +

      You can search for definitions of modules, packages, types, fields, methods and other terms defined in the API, using some or all of the name. "Camel-case" abbreviations are supported: for example, "InpStr" will find "InputStream" and "InputStreamReader".

      +
      +
      • +
    +
    +This help file applies to API documentation generated by the standard doclet.
    +
    +
    + +
    + + diff --git a/docs/java/index-all.html b/docs/java/index-all.html new file mode 100644 index 00000000..437a1e67 --- /dev/null +++ b/docs/java/index-all.html @@ -0,0 +1,1497 @@ + + + + + +Index (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    A B C D E F G H I K L M N O P Q R S T V W X Y 
    All Classes All Packages + + +

    A

    +
    +
    accelerationMpsSq - Variable in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    The acceleration at this state in m/s^2
    +
    +
    ADStar - Class in com.pathplanner.lib.pathfinding
    +
    +
    Implementation of the AD* pathfinding algorithm
    +
    +
    ADStar() - Constructor for class com.pathplanner.lib.pathfinding.ADStar
    +
     
    +
    ADStar.GridPosition - Class in com.pathplanner.lib.pathfinding
    +
    +
    Represents a node in the pathfinding grid
    +
    +
    apply(In1, In2, In3) - Method in interface com.pathplanner.lib.auto.AutoBuilder.TriFunction
    +
    +
    Apply the inputs to this function
    +
    +
    apply(In1, In2, In3, In4) - Method in interface com.pathplanner.lib.auto.AutoBuilder.QuadFunction
    +
    +
    Apply the inputs to this function
    +
    +
    AutoBuilder - Class in com.pathplanner.lib.auto
    +
    +
    Utility class used to build auto routines
    +
    +
    AutoBuilder() - Constructor for class com.pathplanner.lib.auto.AutoBuilder
    +
     
    +
    AutoBuilder.QuadFunction<In1,​In2,​In3,​In4,​Out> - Interface in com.pathplanner.lib.auto
    +
    +
    Functional interface for a function that takes 4 inputs
    +
    +
    AutoBuilder.TriFunction<In1,​In2,​In3,​Out> - Interface in com.pathplanner.lib.auto
    +
    +
    Functional interface for a function that takes 3 inputs
    +
    +
    AutoBuilderException - Exception in com.pathplanner.lib.auto
    +
    +
    An exception while building autos
    +
    +
    AutoBuilderException(String) - Constructor for exception com.pathplanner.lib.auto.AutoBuilderException
    +
    +
    Create a new auto builder exception
    +
    +
    + + + +

    B

    +
    +
    bezierFromPoses(Pose2d...) - Static method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Create the bezier points necessary to create a path using a list of poses
    +
    +
    bezierFromPoses(List<Pose2d>) - Static method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Create the bezier points necessary to create a path using a list of poses
    +
    +
    buildAuto(String) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Builds an auto command for the given auto name.
    +
    +
    + + + +

    C

    +
    +
    calculate(ChassisSpeeds) - Method in class com.pathplanner.lib.util.ChassisSpeedsRateLimiter
    +
    +
    Calculate the limited chassis speeds for a given input
    +
    +
    calculateRadius(Translation2d, Translation2d, Translation2d) - Static method in class com.pathplanner.lib.util.GeometryUtil
    +
    +
    Calculate the curve radius given 3 points on the curve
    +
    +
    calculateRobotRelativeSpeeds(Pose2d, PathPlannerTrajectory.State) - Method in interface com.pathplanner.lib.controllers.PathFollowingController
    +
    +
    Calculates the next output of the path following controller
    +
    +
    calculateRobotRelativeSpeeds(Pose2d, PathPlannerTrajectory.State) - Method in class com.pathplanner.lib.controllers.PPHolonomicDriveController
    +
    +
    Calculates the next output of the path following controller
    +
    +
    calculateRobotRelativeSpeeds(Pose2d, PathPlannerTrajectory.State) - Method in class com.pathplanner.lib.controllers.PPLTVController
    +
    +
    Calculates the next output of the path following controller
    +
    +
    calculateRobotRelativeSpeeds(Pose2d, PathPlannerTrajectory.State) - Method in class com.pathplanner.lib.controllers.PPRamseteController
    +
    +
    Calculates the next output of the path following controller
    +
    +
    ChassisSpeedsRateLimiter - Class in com.pathplanner.lib.util
    +
    +
    Essentially a slew rate limiter for chassis speeds
    +
    +
    ChassisSpeedsRateLimiter(double, double) - Constructor for class com.pathplanner.lib.util.ChassisSpeedsRateLimiter
    +
    +
    Create a new chassis speeds limiter
    +
    +
    ChassisSpeedsRateLimiter(double, double, ChassisSpeeds) - Constructor for class com.pathplanner.lib.util.ChassisSpeedsRateLimiter
    +
    +
    Create a new chassis speeds limiter
    +
    +
    com.pathplanner.lib.auto - package com.pathplanner.lib.auto
    +
     
    +
    com.pathplanner.lib.commands - package com.pathplanner.lib.commands
    +
     
    +
    com.pathplanner.lib.controllers - package com.pathplanner.lib.controllers
    +
     
    +
    com.pathplanner.lib.path - package com.pathplanner.lib.path
    +
     
    +
    com.pathplanner.lib.pathfinding - package com.pathplanner.lib.pathfinding
    +
     
    +
    com.pathplanner.lib.util - package com.pathplanner.lib.util
    +
     
    +
    commandFromJson(JSONObject) - Static method in class com.pathplanner.lib.auto.CommandUtil
    +
    +
    Builds a command from the given JSON object.
    +
    +
    CommandUtil - Class in com.pathplanner.lib.auto
    +
    +
    Utility class for building commands used in autos
    +
    +
    CommandUtil() - Constructor for class com.pathplanner.lib.auto.CommandUtil
    +
     
    +
    compareTo(ADStar.GridPosition) - Method in class com.pathplanner.lib.pathfinding.ADStar.GridPosition
    +
     
    +
    configureCustom(Function<PathPlannerPath, Command>, Supplier<Pose2d>, Consumer<Pose2d>) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Configures the AutoBuilder with custom path following command builder.
    +
    +
    configureHolonomic(Supplier<Pose2d>, Consumer<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, HolonomicPathFollowerConfig, Subsystem) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Configures the AutoBuilder for a holonomic drivetrain.
    +
    +
    configureLTV(Supplier<Pose2d>, Consumer<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, double, ReplanningConfig, Subsystem) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path + follower.
    +
    +
    configureLTV(Supplier<Pose2d>, Consumer<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, Vector<N3>, Vector<N2>, double, ReplanningConfig, Subsystem) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path + follower.
    +
    +
    configureRamsete(Supplier<Pose2d>, Consumer<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, double, double, ReplanningConfig, Subsystem) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.
    +
    +
    configureRamsete(Supplier<Pose2d>, Consumer<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, ReplanningConfig, Subsystem) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.
    +
    +
    constraints - Variable in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    The constraints to apply at this state
    +
    +
    constraints - Variable in class com.pathplanner.lib.path.PathPoint
    +
    +
    The constraints applied to this point
    +
    +
    ConstraintsZone - Class in com.pathplanner.lib.path
    +
    +
    A zone on a path with different kinematic constraints
    +
    +
    ConstraintsZone(double, double, PathConstraints) - Constructor for class com.pathplanner.lib.path.ConstraintsZone
    +
    +
    Create a new constraints zone
    +
    +
    cubicLerp(Translation2d, Translation2d, Translation2d, Translation2d, double) - Static method in class com.pathplanner.lib.util.GeometryUtil
    +
    +
    Quadratic interpolation between Translation2ds
    +
    +
    curvatureRadPerMeter - Variable in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    The curvature at this state in rad/m
    +
    +
    curveRadius - Variable in class com.pathplanner.lib.path.PathPoint
    +
    +
    The curve radius at this point
    +
    +
    + + + +

    D

    +
    +
    distanceAlongPath - Variable in class com.pathplanner.lib.path.PathPoint
    +
    +
    The distance of this point along the path, in meters
    +
    +
    doubleLerp(double, double, double) - Static method in class com.pathplanner.lib.util.GeometryUtil
    +
    +
    Interpolate between two doubles
    +
    +
    driveBaseRadius - Variable in class com.pathplanner.lib.util.HolonomicPathFollowerConfig
    +
    +
    Radius of the drive base in meters
    +
    +
    dynamicReplanningErrorSpikeThreshold - Variable in class com.pathplanner.lib.util.ReplanningConfig
    +
    +
    The error spike threshold, in meters, that will cause the path to be replanned
    +
    +
    dynamicReplanningTotalErrorThreshold - Variable in class com.pathplanner.lib.util.ReplanningConfig
    +
    +
    The total error threshold, in meters, that will cause the path to be replanned
    +
    +
    + + + +

    E

    +
    +
    enableCompetitionMode() - Static method in class com.pathplanner.lib.util.PPLibTelemetry
    +
    +
    Enable competition mode.
    +
    +
    enableDynamicReplanning - Variable in class com.pathplanner.lib.util.ReplanningConfig
    +
    +
    Should the path be replanned if the error grows too large or if a large error spike happens + while following the path?
    +
    +
    enableInitialReplanning - Variable in class com.pathplanner.lib.util.ReplanningConfig
    +
    +
    Should the path be replanned at the start of path following if the robot is not already at the + starting point?
    +
    +
    end(boolean) - Method in class com.pathplanner.lib.commands.FollowPathCommand
    +
     
    +
    end(boolean) - Method in class com.pathplanner.lib.commands.FollowPathWithEvents
    +
     
    +
    end(boolean) - Method in class com.pathplanner.lib.commands.PathfindingCommand
    +
     
    +
    end(boolean) - Method in class com.pathplanner.lib.commands.PathPlannerAuto
    +
     
    +
    ensureInitialized() - Static method in class com.pathplanner.lib.pathfinding.ADStar
    +
    +
    Ensure that the pathfinding thread is initialized and running.
    +
    +
    equals(Object) - Method in class com.pathplanner.lib.path.ConstraintsZone
    +
     
    +
    equals(Object) - Method in class com.pathplanner.lib.path.EventMarker
    +
     
    +
    equals(Object) - Method in class com.pathplanner.lib.path.GoalEndState
    +
     
    +
    equals(Object) - Method in class com.pathplanner.lib.path.PathConstraints
    +
     
    +
    equals(Object) - Method in class com.pathplanner.lib.path.PathPlannerPath
    +
     
    +
    equals(Object) - Method in class com.pathplanner.lib.path.PathPoint
    +
     
    +
    equals(Object) - Method in class com.pathplanner.lib.path.RotationTarget
    +
     
    +
    equals(Object) - Method in class com.pathplanner.lib.pathfinding.ADStar.GridPosition
    +
     
    +
    EventMarker - Class in com.pathplanner.lib.path
    +
    +
    Position along the path that will trigger a command when reached
    +
    +
    EventMarker(double, Command) - Constructor for class com.pathplanner.lib.path.EventMarker
    +
    +
    Create a new event marker
    +
    +
    EventMarker(double, Command, double) - Constructor for class com.pathplanner.lib.path.EventMarker
    +
    +
    Create a new event marker
    +
    +
    execute() - Method in class com.pathplanner.lib.commands.FollowPathCommand
    +
     
    +
    execute() - Method in class com.pathplanner.lib.commands.FollowPathWithEvents
    +
     
    +
    execute() - Method in class com.pathplanner.lib.commands.PathfindingCommand
    +
     
    +
    execute() - Method in class com.pathplanner.lib.commands.PathPlannerAuto
    +
     
    +
    + + + +

    F

    +
    +
    FollowPathCommand - Class in com.pathplanner.lib.commands
    +
    +
    Base command for following a path
    +
    +
    FollowPathCommand(PathPlannerPath, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, PathFollowingController, ReplanningConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.FollowPathCommand
    +
    +
    Construct a base path following command
    +
    +
    FollowPathHolonomic - Class in com.pathplanner.lib.commands
    +
    +
    Follow a path using a PPHolonomicDriveController
    +
    +
    FollowPathHolonomic(PathPlannerPath, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, HolonomicPathFollowerConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.FollowPathHolonomic
    +
    +
    Construct a path following command that will use a holonomic drive controller for holonomic + drive trains
    +
    +
    FollowPathHolonomic(PathPlannerPath, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, PIDConstants, PIDConstants, double, double, double, ReplanningConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.FollowPathHolonomic
    +
    +
    Construct a path following command that will use a holonomic drive controller for holonomic + drive trains
    +
    +
    FollowPathHolonomic(PathPlannerPath, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, PIDConstants, PIDConstants, double, double, ReplanningConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.FollowPathHolonomic
    +
    +
    Construct a path following command that will use a holonomic drive controller for holonomic + drive trains
    +
    +
    FollowPathLTV - Class in com.pathplanner.lib.commands
    +
    +
    Follow a path using a PPLTVController
    +
    +
    FollowPathLTV(PathPlannerPath, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, double, ReplanningConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.FollowPathLTV
    +
    +
    Create a path following command that will use an LTV unicycle controller for differential drive + trains
    +
    +
    FollowPathLTV(PathPlannerPath, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, Vector<N3>, Vector<N2>, double, ReplanningConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.FollowPathLTV
    +
    +
    Create a path following command that will use an LTV unicycle controller for differential drive + trains
    +
    +
    FollowPathRamsete - Class in com.pathplanner.lib.commands
    +
    +
    Follow a path using a PPRamseteController
    +
    +
    FollowPathRamsete(PathPlannerPath, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, double, double, ReplanningConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.FollowPathRamsete
    +
    +
    Construct a path following command that will use a Ramsete path following controller for + differential drive trains
    +
    +
    FollowPathRamsete(PathPlannerPath, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, ReplanningConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.FollowPathRamsete
    +
    +
    Construct a path following command that will use a Ramsete path following controller for + differential drive trains
    +
    +
    followPathWithEvents(PathPlannerPath) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Builds a command to follow a path with event markers.
    +
    +
    FollowPathWithEvents - Class in com.pathplanner.lib.commands
    +
    +
    Command that will run a path following command and trigger event markers along the way
    +
    +
    FollowPathWithEvents(Command, PathPlannerPath, Supplier<Pose2d>) - Constructor for class com.pathplanner.lib.commands.FollowPathWithEvents
    +
    +
    Constructs a new FollowPathWithEvents command.
    +
    +
    forSegmentIndex(int) - Method in class com.pathplanner.lib.path.ConstraintsZone
    +
    +
    Transform the positions of this zone for a given segment number.
    +
    +
    forSegmentIndex(int) - Method in class com.pathplanner.lib.path.RotationTarget
    +
    +
    Transform the position of this target for a given segment number.
    +
    +
    fromPathFile(String) - Static method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Load a path from a path file in storage
    +
    +
    fromPathPoints(List<PathPoint>, PathConstraints, GoalEndState) - Static method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Creat a path with pre-generated points.
    +
    +
    + + + +

    G

    +
    +
    GeometryUtil - Class in com.pathplanner.lib.util
    +
    +
    Utility class for various geometry functions used during generation
    +
    +
    GeometryUtil() - Constructor for class com.pathplanner.lib.util.GeometryUtil
    +
     
    +
    getAllPathPoints() - Method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Get all the path points in this path
    +
    +
    getAutoCommandFromJson(JSONObject) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Builds an auto command from the given JSON object.
    +
    +
    getCommand() - Method in class com.pathplanner.lib.path.EventMarker
    +
    +
    Get the command associated with this marker
    +
    +
    getCommand(String) - Static method in class com.pathplanner.lib.auto.NamedCommands
    +
    +
    Returns the command with the given name.
    +
    +
    getConstraints() - Method in class com.pathplanner.lib.path.ConstraintsZone
    +
    +
    Get the constraints for this zone
    +
    +
    getConstraintsForPoint(int) - Method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Get the constraints for a point along the path
    +
    +
    getCurrentPath() - Static method in class com.pathplanner.lib.pathfinding.ADStar
    +
    +
    Get the most recently calculated path
    +
    +
    getDifferentialPose() - Method in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    Get this pose for a differential drivetrain
    +
    +
    getEndState() - Method in class com.pathplanner.lib.path.PathPlannerTrajectory
    +
    +
    Get the end state of the trajectory
    +
    +
    getEventMarkers() - Method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Get all the event markers for this path
    +
    +
    getGlobalConstraints() - Method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Get the global constraints for this path
    +
    +
    getGoalEndState() - Method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Get the goal end state of this path
    +
    +
    getGridPos(Translation2d) - Static method in class com.pathplanner.lib.pathfinding.ADStar
    +
    +
    Converts a Translation2d into a grid position
    +
    +
    getInitialDifferentialPose() - Method in class com.pathplanner.lib.path.PathPlannerTrajectory
    +
    +
    Get this initial pose for a differential drivetrain
    +
    +
    getInitialState() - Method in class com.pathplanner.lib.path.PathPlannerTrajectory
    +
    +
    Get the initial state of the trajectory
    +
    +
    getInitialTargetHolonomicPose() - Method in class com.pathplanner.lib.path.PathPlannerTrajectory
    +
    +
    Get the initial target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning + the rotation will be the value of the next rotation target along the path, not what the + rotation should be at the start of the path
    +
    +
    getMaxAccelerationMpsSq() - Method in class com.pathplanner.lib.path.PathConstraints
    +
    +
    Get the max linear acceleration
    +
    +
    getMaxAngularAccelerationRpsSq() - Method in class com.pathplanner.lib.path.PathConstraints
    +
    +
    Get the max angular acceleration
    +
    +
    getMaxAngularVelocityRps() - Method in class com.pathplanner.lib.path.PathConstraints
    +
    +
    Get the max angular velocity
    +
    +
    getMaxVelocityMps() - Method in class com.pathplanner.lib.path.PathConstraints
    +
    +
    Get the max linear velocity
    +
    +
    getMaxWaypointPos() - Method in class com.pathplanner.lib.path.ConstraintsZone
    +
    +
    Get the end position of the zone
    +
    +
    getMinimumTriggerDistance() - Method in class com.pathplanner.lib.path.EventMarker
    +
    +
    Get the minimum trigger distance for this marker
    +
    +
    getMinWaypointPos() - Method in class com.pathplanner.lib.path.ConstraintsZone
    +
    +
    Get the starting position of the zone
    +
    +
    getPathGroupFromAutoFile(String) - Static method in class com.pathplanner.lib.commands.PathPlannerAuto
    +
    +
    Get a list of every path in the given auto (depth first)
    +
    +
    getPoint(int) - Method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Get a specific point along this path
    +
    +
    getPosition() - Method in class com.pathplanner.lib.path.RotationTarget
    +
    +
    Get the waypoint relative position of this target
    +
    +
    getPositionalError() - Method in interface com.pathplanner.lib.controllers.PathFollowingController
    +
    +
    Get the current positional error between the robot's actual and target positions
    +
    +
    getPositionalError() - Method in class com.pathplanner.lib.controllers.PPHolonomicDriveController
    +
    +
    Get the current positional error between the robot's actual and target positions
    +
    +
    getPositionalError() - Method in class com.pathplanner.lib.controllers.PPLTVController
    +
    +
    Get the current positional error between the robot's actual and target positions
    +
    +
    getPositionalError() - Method in class com.pathplanner.lib.controllers.PPRamseteController
    +
    +
    Get the current positional error between the robot's actual and target positions
    +
    +
    getRotation() - Method in class com.pathplanner.lib.path.GoalEndState
    +
    +
    Get the goal end rotation
    +
    +
    getSegmentPoints() - Method in class com.pathplanner.lib.path.PathSegment
    +
    +
    Get the path points for this segment
    +
    +
    getStaringPoseFromAutoFile(String) - Static method in class com.pathplanner.lib.commands.PathPlannerAuto
    +
    +
    Get the starting pose from the given auto file
    +
    +
    getStartingPoseFromJson(JSONObject) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Get the starting pose from its JSON representation.
    +
    +
    getState(int) - Method in class com.pathplanner.lib.path.PathPlannerTrajectory
    +
    +
    Get the goal state at the given index
    +
    +
    getStates() - Method in class com.pathplanner.lib.path.PathPlannerTrajectory
    +
    +
    Get all of the pre-generated states in the trajectory
    +
    +
    getTarget() - Method in class com.pathplanner.lib.path.RotationTarget
    +
    +
    Get the target rotation
    +
    +
    getTargetHolonomicPose() - Method in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    Get the target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning the + rotation will be the value of the next rotation target along the path, not what the rotation + should be at the start of the path
    +
    +
    getTotalTimeSeconds() - Method in class com.pathplanner.lib.path.PathPlannerTrajectory
    +
    +
    Get the total run time of the trajectory
    +
    +
    getVelocity() - Method in class com.pathplanner.lib.path.GoalEndState
    +
    +
    Get the goal end velocity
    +
    +
    getWaypointRelativePos() - Method in class com.pathplanner.lib.path.EventMarker
    +
    +
    Get the waypoint relative position of this marker
    +
    +
    GoalEndState - Class in com.pathplanner.lib.path
    +
    +
    Describes the goal end state of the robot when finishing a path
    +
    +
    GoalEndState(double, Rotation2d) - Constructor for class com.pathplanner.lib.path.GoalEndState
    +
    +
    Create a new goal end state
    +
    +
    GridPosition(int, int) - Constructor for class com.pathplanner.lib.pathfinding.ADStar.GridPosition
    +
    +
    Create a node within the pathfinding grid
    +
    +
    + + + +

    H

    +
    +
    hasCommand(String) - Static method in class com.pathplanner.lib.auto.NamedCommands
    +
    +
    Returns whether a command with the given name has been registered.
    +
    +
    hashCode() - Method in class com.pathplanner.lib.path.ConstraintsZone
    +
     
    +
    hashCode() - Method in class com.pathplanner.lib.path.EventMarker
    +
     
    +
    hashCode() - Method in class com.pathplanner.lib.path.GoalEndState
    +
     
    +
    hashCode() - Method in class com.pathplanner.lib.path.PathConstraints
    +
     
    +
    hashCode() - Method in class com.pathplanner.lib.path.PathPlannerPath
    +
     
    +
    hashCode() - Method in class com.pathplanner.lib.path.PathPoint
    +
     
    +
    hashCode() - Method in class com.pathplanner.lib.path.RotationTarget
    +
     
    +
    hashCode() - Method in class com.pathplanner.lib.pathfinding.ADStar.GridPosition
    +
     
    +
    heading - Variable in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    The heading (direction of travel) at this state
    +
    +
    headingAngularVelocityRps - Variable in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    The time at this state in seconds
    +
    +
    HolonomicPathFollowerConfig - Class in com.pathplanner.lib.util
    +
    +
    Configuration for the holonomic path following commands
    +
    +
    HolonomicPathFollowerConfig(double, double, ReplanningConfig) - Constructor for class com.pathplanner.lib.util.HolonomicPathFollowerConfig
    +
    +
    Create a new holonomic path follower config
    +
    +
    HolonomicPathFollowerConfig(double, double, ReplanningConfig, double) - Constructor for class com.pathplanner.lib.util.HolonomicPathFollowerConfig
    +
    +
    Create a new holonomic path follower config
    +
    +
    HolonomicPathFollowerConfig(PIDConstants, PIDConstants, double, double, ReplanningConfig) - Constructor for class com.pathplanner.lib.util.HolonomicPathFollowerConfig
    +
    +
    Create a new holonomic path follower config
    +
    +
    HolonomicPathFollowerConfig(PIDConstants, PIDConstants, double, double, ReplanningConfig, double) - Constructor for class com.pathplanner.lib.util.HolonomicPathFollowerConfig
    +
    +
    Create a new holonomic path follower config
    +
    +
    holonomicRotation - Variable in class com.pathplanner.lib.path.PathPoint
    +
    +
    The target rotation at this point
    +
    +
    hotReload(JSONObject) - Method in class com.pathplanner.lib.commands.PathPlannerAuto
    +
    +
    Reloads the autonomous routine with the given JSON object and updates the requirements of this + command.
    +
    +
    hotReload(JSONObject) - Method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Hot reload the path.
    +
    +
    + + + +

    I

    +
    +
    initialize() - Method in class com.pathplanner.lib.commands.FollowPathCommand
    +
     
    +
    initialize() - Method in class com.pathplanner.lib.commands.FollowPathWithEvents
    +
     
    +
    initialize() - Method in class com.pathplanner.lib.commands.PathfindingCommand
    +
     
    +
    initialize() - Method in class com.pathplanner.lib.commands.PathPlannerAuto
    +
     
    +
    interpolate(PathPlannerTrajectory.State, double) - Method in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    Interpolate between this state and the given state
    +
    +
    isConfigured() - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Returns whether the AutoBuilder has been configured.
    +
    +
    isFinished() - Method in class com.pathplanner.lib.commands.FollowPathCommand
    +
     
    +
    isFinished() - Method in class com.pathplanner.lib.commands.FollowPathWithEvents
    +
     
    +
    isFinished() - Method in class com.pathplanner.lib.commands.PathfindingCommand
    +
     
    +
    isFinished() - Method in class com.pathplanner.lib.commands.PathPlannerAuto
    +
     
    +
    isHolonomic() - Method in interface com.pathplanner.lib.controllers.PathFollowingController
    +
    +
    Is this controller for holonomic drivetrains? Used to handle some differences in functionality + in the path following command.
    +
    +
    isHolonomic() - Method in class com.pathplanner.lib.controllers.PPHolonomicDriveController
    +
    +
    Is this controller for holonomic drivetrains? Used to handle some differences in functionality + in the path following command.
    +
    +
    isHolonomic() - Method in class com.pathplanner.lib.controllers.PPLTVController
    +
    +
    Is this controller for holonomic drivetrains? Used to handle some differences in functionality + in the path following command.
    +
    +
    isHolonomic() - Method in class com.pathplanner.lib.controllers.PPRamseteController
    +
    +
    Is this controller for holonomic drivetrains? Used to handle some differences in functionality + in the path following command.
    +
    +
    isNewPathAvailable() - Static method in class com.pathplanner.lib.pathfinding.ADStar
    +
    +
    Get if a new path has been calculated since the last time a path was retrieved
    +
    +
    isPathfindingConfigured() - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Returns whether the AutoBuilder has been configured for pathfinding.
    +
    +
    isReversed() - Method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Should the path be followed reversed (differential drive only)
    +
    +
    isWithinZone(double) - Method in class com.pathplanner.lib.path.ConstraintsZone
    +
    +
    Get if a given waypoint relative position is within this zone
    +
    +
    iZone - Variable in class com.pathplanner.lib.util.PIDConstants
    +
    +
    Integral range
    +
    +
    + + + +

    K

    +
    +
    kD - Variable in class com.pathplanner.lib.util.PIDConstants
    +
    +
    D
    +
    +
    kI - Variable in class com.pathplanner.lib.util.PIDConstants
    +
    +
    I
    +
    +
    kP - Variable in class com.pathplanner.lib.util.PIDConstants
    +
    +
    P
    +
    +
    + + + +

    L

    +
    +
    logActivePath(PathPlannerPath) - Static method in class com.pathplanner.lib.util.PathPlannerLogging
    +
    +
    Log the active path.
    +
    +
    logCurrentPose(Pose2d) - Static method in class com.pathplanner.lib.util.PathPlannerLogging
    +
    +
    Log the current robot pose.
    +
    +
    logTargetPose(Pose2d) - Static method in class com.pathplanner.lib.util.PathPlannerLogging
    +
    +
    Log the target robot pose.
    +
    +
    + + + +

    M

    +
    +
    maxModuleSpeed - Variable in class com.pathplanner.lib.util.HolonomicPathFollowerConfig
    +
    +
    Max speed of a drive module in m/s
    +
    +
    maxV - Variable in class com.pathplanner.lib.path.PathPoint
    +
    +
    The max velocity at this point
    +
    +
    + + + +

    N

    +
    +
    NamedCommands - Class in com.pathplanner.lib.auto
    +
    +
    Utility class for managing named commands
    +
    +
    NamedCommands() - Constructor for class com.pathplanner.lib.auto.NamedCommands
    +
     
    +
    numPoints() - Method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Get the number of points in this path
    +
    +
    + + + +

    O

    +
    +
    overlapsRange(double, double) - Method in class com.pathplanner.lib.path.ConstraintsZone
    +
    +
    Get if this zone overlaps a given range
    +
    +
    + + + +

    P

    +
    +
    PathConstraints - Class in com.pathplanner.lib.path
    +
    +
    Kinematic path following constraints
    +
    +
    PathConstraints(double, double, double, double) - Constructor for class com.pathplanner.lib.path.PathConstraints
    +
    +
    Create a new path constraints object
    +
    +
    PathfindHolonomic - Class in com.pathplanner.lib.commands
    +
    +
    Pathfind and follow the path with a PPHolonomicDriveController
    +
    +
    PathfindHolonomic(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, HolonomicPathFollowerConfig, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindHolonomic
    +
    +
    Constructs a new PathfindHolonomic command that will generate a path towards the given path.
    +
    +
    PathfindHolonomic(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, HolonomicPathFollowerConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindHolonomic
    +
    +
    Constructs a new PathfindHolonomic command that will generate a path towards the given path.
    +
    +
    PathfindHolonomic(Pose2d, PathConstraints, double, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, HolonomicPathFollowerConfig, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindHolonomic
    +
    +
    Constructs a new PathfindHolonomic command that will generate a path towards the given pose.
    +
    +
    PathfindHolonomic(Pose2d, PathConstraints, double, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, HolonomicPathFollowerConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindHolonomic
    +
    +
    Constructs a new PathfindHolonomic command that will generate a path towards the given pose.
    +
    +
    PathfindHolonomic(Pose2d, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, HolonomicPathFollowerConfig, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindHolonomic
    +
    +
    Constructs a new PathfindHolonomic command that will generate a path towards the given pose and + stop.
    +
    +
    PathfindHolonomic(Pose2d, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, HolonomicPathFollowerConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindHolonomic
    +
    +
    Constructs a new PathfindHolonomic command that will generate a path towards the given pose and + stop.
    +
    +
    PathfindingCommand - Class in com.pathplanner.lib.commands
    +
    +
    Base pathfinding command
    +
    +
    PathfindingCommand(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, PathFollowingController, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindingCommand
    +
    +
    Constructs a new base pathfinding command that will generate a path towards the given path.
    +
    +
    PathfindingCommand(Pose2d, PathConstraints, double, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, PathFollowingController, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindingCommand
    +
    +
    Constructs a new base pathfinding command that will generate a path towards the given pose.
    +
    +
    PathfindLTV - Class in com.pathplanner.lib.commands
    +
    +
    Pathfind and follow the path with a PPLTVController
    +
    +
    PathfindLTV(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindLTV
    +
    +
    Constructs a new PathfindLTV command that will generate a path towards the given path.
    +
    +
    PathfindLTV(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, Vector<N3>, Vector<N2>, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindLTV
    +
    +
    Constructs a new PathfindLTV command that will generate a path towards the given path.
    +
    +
    PathfindLTV(Translation2d, PathConstraints, double, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindLTV
    +
    +
    Constructs a new PathfindLTV command that will generate a path towards the given position.
    +
    +
    PathfindLTV(Translation2d, PathConstraints, double, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, Vector<N3>, Vector<N2>, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindLTV
    +
    +
    Constructs a new PathfindLTV command that will generate a path towards the given position.
    +
    +
    PathfindLTV(Translation2d, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindLTV
    +
    +
    Constructs a new PathfindLTV command that will generate a path towards the given position and + stop.
    +
    +
    PathfindLTV(Translation2d, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, Vector<N3>, Vector<N2>, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindLTV
    +
    +
    Constructs a new PathfindLTV command that will generate a path towards the given position and + stop.
    +
    +
    PathfindRamsete - Class in com.pathplanner.lib.commands
    +
    +
    Pathfind and follow the path with a PPRamseteController
    +
    +
    PathfindRamsete(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, double, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindRamsete
    +
    +
    Constructs a new PathfindRamsete command that will generate a path towards the given path.
    +
    +
    PathfindRamsete(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindRamsete
    +
    +
    Constructs a new PathfindRamsete command that will generate a path towards the given path.
    +
    +
    PathfindRamsete(Translation2d, PathConstraints, double, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, double, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindRamsete
    +
    +
    Constructs a new PathfindRamsete command that will generate a path towards the given position.
    +
    +
    PathfindRamsete(Translation2d, PathConstraints, double, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindRamsete
    +
    +
    Constructs a new PathfindRamsete command that will generate a path towards the given position.
    +
    +
    PathfindRamsete(Translation2d, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, double, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindRamsete
    +
    +
    Constructs a new PathfindRamsete command that will generate a path towards the given position + and stop.
    +
    +
    PathfindRamsete(Translation2d, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindRamsete
    +
    +
    Constructs a new PathfindRamsete command that will generate a path towards the given position + and stop.
    +
    +
    pathfindThenFollowPath(PathPlannerPath, PathConstraints) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Build a command to pathfind to a given path, then follow that path.
    +
    +
    pathfindThenFollowPath(PathPlannerPath, PathConstraints, double) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Build a command to pathfind to a given path, then follow that path.
    +
    +
    PathfindThenFollowPathHolonomic - Class in com.pathplanner.lib.commands
    +
    +
    A command group that first pathfinds to a goal path and then follows the goal path.
    +
    +
    PathfindThenFollowPathHolonomic(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, HolonomicPathFollowerConfig, double, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindThenFollowPathHolonomic
    +
    +
    Constructs a new PathfindThenFollowPathHolonomic command group.
    +
    +
    PathfindThenFollowPathHolonomic(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, HolonomicPathFollowerConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindThenFollowPathHolonomic
    +
    +
    Constructs a new PathfindThenFollowPathHolonomic command group.
    +
    +
    PathfindThenFollowPathLTV - Class in com.pathplanner.lib.commands
    +
    +
    A command group that first pathfinds to a goal path and then follows the goal path.
    +
    +
    PathfindThenFollowPathLTV(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, double, ReplanningConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindThenFollowPathLTV
    +
    +
    Constructs a new PathfindThenFollowPathLTV command group.
    +
    +
    PathfindThenFollowPathLTV(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, Vector<N3>, Vector<N2>, double, ReplanningConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindThenFollowPathLTV
    +
    +
    Constructs a new PathfindThenFollowPathLTV command group.
    +
    +
    PathfindThenFollowPathRamsete - Class in com.pathplanner.lib.commands
    +
    +
    A command group that first pathfinds to a goal path and then follows the goal path.
    +
    +
    PathfindThenFollowPathRamsete(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, double, double, ReplanningConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindThenFollowPathRamsete
    +
    +
    Constructs a new PathfindThenFollowPathRamsete command group.
    +
    +
    PathfindThenFollowPathRamsete(PathPlannerPath, PathConstraints, Supplier<Pose2d>, Supplier<ChassisSpeeds>, Consumer<ChassisSpeeds>, ReplanningConfig, Subsystem...) - Constructor for class com.pathplanner.lib.commands.PathfindThenFollowPathRamsete
    +
    +
    Constructs a new PathfindThenFollowPathRamsete command group.
    +
    +
    pathfindToPose(Pose2d, PathConstraints) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Build a command to pathfind to a given pose.
    +
    +
    pathfindToPose(Pose2d, PathConstraints, double) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Build a command to pathfind to a given pose.
    +
    +
    pathfindToPose(Pose2d, PathConstraints, double, double) - Static method in class com.pathplanner.lib.auto.AutoBuilder
    +
    +
    Build a command to pathfind to a given pose.
    +
    +
    PathFollowingController - Interface in com.pathplanner.lib.controllers
    +
    +
    Interface used by path following controllers
    +
    +
    PathPlannerAuto - Class in com.pathplanner.lib.commands
    +
    +
    A command that loads and runs an autonomous routine built using PathPlanner.
    +
    +
    PathPlannerAuto(String) - Constructor for class com.pathplanner.lib.commands.PathPlannerAuto
    +
    +
    Constructs a new PathPlannerAuto command.
    +
    +
    PathPlannerLogging - Class in com.pathplanner.lib.util
    +
    +
    Utility class for handling custom logging callbacks
    +
    +
    PathPlannerLogging() - Constructor for class com.pathplanner.lib.util.PathPlannerLogging
    +
     
    +
    PathPlannerPath - Class in com.pathplanner.lib.path
    +
    +
    A PathPlanner path.
    +
    +
    PathPlannerPath(List<Translation2d>, PathConstraints, GoalEndState) - Constructor for class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Simplified constructor to create a path with no rotation targets, constraint zones, or event + markers.
    +
    +
    PathPlannerPath(List<Translation2d>, PathConstraints, GoalEndState, boolean) - Constructor for class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Simplified constructor to create a path with no rotation targets, constraint zones, or event + markers.
    +
    +
    PathPlannerPath(List<Translation2d>, List<RotationTarget>, List<ConstraintsZone>, List<EventMarker>, PathConstraints, GoalEndState, boolean) - Constructor for class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Create a new path planner path
    +
    +
    PathPlannerTrajectory - Class in com.pathplanner.lib.path
    +
    +
    Trajectory created from a pathplanner path
    +
    +
    PathPlannerTrajectory(PathPlannerPath, ChassisSpeeds) - Constructor for class com.pathplanner.lib.path.PathPlannerTrajectory
    +
    +
    Generate a PathPlannerTrajectory
    +
    +
    PathPlannerTrajectory.State - Class in com.pathplanner.lib.path
    +
    +
    A state along the trajectory
    +
    +
    PathPoint - Class in com.pathplanner.lib.path
    +
    +
    A point along a pathplanner path
    +
    +
    PathPoint(Translation2d, Rotation2d) - Constructor for class com.pathplanner.lib.path.PathPoint
    +
    +
    Create a path point
    +
    +
    PathPoint(Translation2d, Rotation2d, PathConstraints) - Constructor for class com.pathplanner.lib.path.PathPoint
    +
    +
    Create a path point
    +
    +
    PathSegment - Class in com.pathplanner.lib.path
    +
    +
    A bezier curve segment
    +
    +
    PathSegment(Translation2d, Translation2d, Translation2d, Translation2d, boolean) - Constructor for class com.pathplanner.lib.path.PathSegment
    +
    +
    Generate a new path segment without constraint zones or rotation targets
    +
    +
    PathSegment(Translation2d, Translation2d, Translation2d, Translation2d, List<RotationTarget>, List<ConstraintsZone>, boolean) - Constructor for class com.pathplanner.lib.path.PathSegment
    +
    +
    Generate a new path segment
    +
    +
    period - Variable in class com.pathplanner.lib.util.HolonomicPathFollowerConfig
    +
    +
    Period of the robot control loop in seconds
    +
    +
    PIDConstants - Class in com.pathplanner.lib.util
    +
    +
    PID constants used to create PID controllers
    +
    +
    PIDConstants(double) - Constructor for class com.pathplanner.lib.util.PIDConstants
    +
    +
    Create a new PIDConstants object
    +
    +
    PIDConstants(double, double) - Constructor for class com.pathplanner.lib.util.PIDConstants
    +
    +
    Create a new PIDConstants object
    +
    +
    PIDConstants(double, double, double) - Constructor for class com.pathplanner.lib.util.PIDConstants
    +
    +
    Create a new PIDConstants object
    +
    +
    PIDConstants(double, double, double, double) - Constructor for class com.pathplanner.lib.util.PIDConstants
    +
    +
    Create a new PIDConstants object
    +
    +
    position - Variable in class com.pathplanner.lib.path.PathPoint
    +
    +
    The position of this point
    +
    +
    positionMeters - Variable in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    The position at this state in meters
    +
    +
    PPHolonomicDriveController - Class in com.pathplanner.lib.controllers
    +
    +
    Path following controller for holonomic drive trains
    +
    +
    PPHolonomicDriveController(PIDConstants, PIDConstants, double, double) - Constructor for class com.pathplanner.lib.controllers.PPHolonomicDriveController
    +
    +
    Constructs a HolonomicDriveController
    +
    +
    PPHolonomicDriveController(PIDConstants, PIDConstants, double, double, double) - Constructor for class com.pathplanner.lib.controllers.PPHolonomicDriveController
    +
    +
    Constructs a HolonomicDriveController
    +
    +
    PPLibTelemetry - Class in com.pathplanner.lib.util
    +
    +
    Utility class for sending data to the PathPlanner app via NT4
    +
    +
    PPLibTelemetry() - Constructor for class com.pathplanner.lib.util.PPLibTelemetry
    +
     
    +
    PPLTVController - Class in com.pathplanner.lib.controllers
    +
    +
    LTV following controller
    +
    +
    PPLTVController(double) - Constructor for class com.pathplanner.lib.controllers.PPLTVController
    +
    +
    Constructs a linear time-varying unicycle controller with default maximum desired error + tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s, + 2 rad/s).
    +
    +
    PPLTVController(double, double) - Constructor for class com.pathplanner.lib.controllers.PPLTVController
    +
    +
    Constructs a linear time-varying unicycle controller with default maximum desired error + tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s, + 2 rad/s).
    +
    +
    PPLTVController(Vector<N3>, Vector<N2>, double) - Constructor for class com.pathplanner.lib.controllers.PPLTVController
    +
    +
    Constructs a linear time-varying unicycle controller.
    +
    +
    PPLTVController(Vector<N3>, Vector<N2>, double, double) - Constructor for class com.pathplanner.lib.controllers.PPLTVController
    +
    +
    Constructs a linear time-varying unicycle controller.
    +
    +
    PPRamseteController - Class in com.pathplanner.lib.controllers
    +
    +
    Ramsete path following controller
    +
    +
    PPRamseteController() - Constructor for class com.pathplanner.lib.controllers.PPRamseteController
    +
    +
    Construct a Ramsete unicycle controller.
    +
    +
    PPRamseteController(double, double) - Constructor for class com.pathplanner.lib.controllers.PPRamseteController
    +
    +
    Construct a Ramsete unicycle controller.
    +
    +
    + + + +

    Q

    +
    +
    quadraticLerp(Translation2d, Translation2d, Translation2d, double) - Static method in class com.pathplanner.lib.util.GeometryUtil
    +
    +
    Cubic interpolation between Translation2ds
    +
    +
    + + + +

    R

    +
    +
    registerCommand(String, Command) - Static method in class com.pathplanner.lib.auto.NamedCommands
    +
    +
    Registers a command with the given name.
    +
    +
    registerCommands(List<Pair<String, Command>>) - Static method in class com.pathplanner.lib.auto.NamedCommands
    +
    +
    Registers a list of commands with their associated names.
    +
    +
    registerCommands(Map<String, Command>) - Static method in class com.pathplanner.lib.auto.NamedCommands
    +
    +
    Registers a map of commands with their associated names.
    +
    +
    registerHotReloadAuto(String, PathPlannerAuto) - Static method in class com.pathplanner.lib.util.PPLibTelemetry
    +
    +
    Register an auto for hot reload.
    +
    +
    registerHotReloadPath(String, PathPlannerPath) - Static method in class com.pathplanner.lib.util.PPLibTelemetry
    +
    +
    Register a path for hot reload.
    +
    +
    replan(Pose2d, ChassisSpeeds) - Method in class com.pathplanner.lib.path.PathPlannerPath
    +
    +
    Replan this path based on the current robot position and speeds
    +
    +
    replanningConfig - Variable in class com.pathplanner.lib.util.HolonomicPathFollowerConfig
    +
    +
    Path replanning config
    +
    +
    ReplanningConfig - Class in com.pathplanner.lib.util
    +
    +
    Configuration for path replanning
    +
    +
    ReplanningConfig() - Constructor for class com.pathplanner.lib.util.ReplanningConfig
    +
    +
    Create a path replanning configuration with the default config.
    +
    +
    ReplanningConfig(boolean, boolean) - Constructor for class com.pathplanner.lib.util.ReplanningConfig
    +
    +
    Create a path replanning configuration with default dynamic replanning error thresholds
    +
    +
    ReplanningConfig(boolean, boolean, double, double) - Constructor for class com.pathplanner.lib.util.ReplanningConfig
    +
    +
    Create a path replanning configuration
    +
    +
    reset(Pose2d) - Method in class com.pathplanner.lib.path.EventMarker
    +
    +
    Reset the current robot position
    +
    +
    reset(Pose2d, ChassisSpeeds) - Method in interface com.pathplanner.lib.controllers.PathFollowingController
    +
    +
    Resets the controller based on the current state of the robot
    +
    +
    reset(Pose2d, ChassisSpeeds) - Method in class com.pathplanner.lib.controllers.PPHolonomicDriveController
    +
    +
    Resets the controller based on the current state of the robot
    +
    +
    reset(Pose2d, ChassisSpeeds) - Method in class com.pathplanner.lib.controllers.PPLTVController
    +
    +
    Resets the controller based on the current state of the robot
    +
    +
    reset(Pose2d, ChassisSpeeds) - Method in class com.pathplanner.lib.controllers.PPRamseteController
    +
    +
    Resets the controller based on the current state of the robot
    +
    +
    reset(ChassisSpeeds) - Method in class com.pathplanner.lib.util.ChassisSpeedsRateLimiter
    +
    +
    Reset the limiter
    +
    +
    RESOLUTION - Static variable in class com.pathplanner.lib.path.PathSegment
    +
    +
    The resolution used during path generation
    +
    +
    reverse() - Method in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    Get the state reversed, used for following a trajectory reversed with a differential + drivetrain
    +
    +
    rotationConstants - Variable in class com.pathplanner.lib.util.HolonomicPathFollowerConfig
    +
    +
    PIDConstants used for rotation PID controllers
    +
    +
    rotationLerp(Rotation2d, Rotation2d, double) - Static method in class com.pathplanner.lib.util.GeometryUtil
    +
    +
    Interpolate between two Rotation2ds
    +
    +
    RotationTarget - Class in com.pathplanner.lib.path
    +
    +
    A target holonomic rotation at a position along a path
    +
    +
    RotationTarget(double, Rotation2d) - Constructor for class com.pathplanner.lib.path.RotationTarget
    +
    +
    Create a new rotation target
    +
    +
    + + + +

    S

    +
    +
    sample(double) - Method in class com.pathplanner.lib.path.PathPlannerTrajectory
    +
    +
    Get the target state at the given point in time along the trajectory
    +
    +
    setCurrentPath(PathPlannerPath) - Static method in class com.pathplanner.lib.util.PPLibTelemetry
    +
    +
    Set the current path being followed
    +
    +
    setCurrentPose(Pose2d) - Static method in class com.pathplanner.lib.util.PPLibTelemetry
    +
    +
    Set the current robot pose
    +
    +
    setDynamicObstacles(List<Pair<Translation2d, Translation2d>>, Translation2d) - Static method in class com.pathplanner.lib.pathfinding.ADStar
    +
    +
    Set the dynamic obstacles that should be avoided while pathfinding.
    +
    +
    setEnabled(boolean) - Method in class com.pathplanner.lib.controllers.PPHolonomicDriveController
    +
    +
    Enables and disables the controller for troubleshooting.
    +
    +
    setGoalPos(Translation2d) - Static method in class com.pathplanner.lib.pathfinding.ADStar
    +
    +
    Set the goal position to pathfind to
    +
    +
    setLogActivePathCallback(Consumer<List<Pose2d>>) - Static method in class com.pathplanner.lib.util.PathPlannerLogging
    +
    +
    Set the logging callback for the active path
    +
    +
    setLogCurrentPoseCallback(Consumer<Pose2d>) - Static method in class com.pathplanner.lib.util.PathPlannerLogging
    +
    +
    Set the logging callback for the current robot pose
    +
    +
    setLogTargetPoseCallback(Consumer<Pose2d>) - Static method in class com.pathplanner.lib.util.PathPlannerLogging
    +
    +
    Set the logging callback for the target robot pose
    +
    +
    setPathInaccuracy(double) - Static method in class com.pathplanner.lib.util.PPLibTelemetry
    +
    +
    Set the path following inaccuracy
    +
    +
    setRateLimits(double, double) - Method in class com.pathplanner.lib.util.ChassisSpeedsRateLimiter
    +
    +
    Set the acceleration limits
    +
    +
    setStartPos(Translation2d) - Static method in class com.pathplanner.lib.pathfinding.ADStar
    +
    +
    Set the start position to pathfind from
    +
    +
    setTargetPose(Pose2d) - Static method in class com.pathplanner.lib.util.PPLibTelemetry
    +
    +
    Set the target robot pose
    +
    +
    setVelocities(double, double, double, double) - Static method in class com.pathplanner.lib.util.PPLibTelemetry
    +
    +
    Set the path following actual/target velocities
    +
    +
    shouldTrigger(Pose2d) - Method in class com.pathplanner.lib.path.EventMarker
    +
    +
    Get if this event marker should be triggered
    +
    +
    State() - Constructor for class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
     
    +
    + + + +

    T

    +
    +
    targetHolonomicRotation - Variable in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    The target holonomic rotation at this state
    +
    +
    timeSeconds - Variable in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    The time at this state in seconds
    +
    +
    toString() - Method in class com.pathplanner.lib.path.GoalEndState
    +
     
    +
    toString() - Method in class com.pathplanner.lib.path.PathConstraints
    +
     
    +
    toString() - Method in class com.pathplanner.lib.path.RotationTarget
    +
     
    +
    toString() - Method in class com.pathplanner.lib.pathfinding.ADStar.GridPosition
    +
     
    +
    translationConstants - Variable in class com.pathplanner.lib.util.HolonomicPathFollowerConfig
    +
    +
    PIDConstants used for translation PID controllers
    +
    +
    translationLerp(Translation2d, Translation2d, double) - Static method in class com.pathplanner.lib.util.GeometryUtil
    +
    +
    Linear interpolation between Translation2ds
    +
    +
    + + + +

    V

    +
    +
    velocityMps - Variable in class com.pathplanner.lib.path.PathPlannerTrajectory.State
    +
    +
    The velocity at this state in m/s
    +
    +
    + + + +

    W

    +
    +
    wrappedEventCommand(Command) - Static method in class com.pathplanner.lib.auto.CommandUtil
    +
    +
    Wraps a command with a functional command that calls the command's initialize, execute, end, + and isFinished methods.
    +
    +
    + + + +

    X

    +
    +
    x - Variable in class com.pathplanner.lib.pathfinding.ADStar.GridPosition
    +
    +
    X index in the grid
    +
    +
    + + + +

    Y

    +
    +
    y - Variable in class com.pathplanner.lib.pathfinding.ADStar.GridPosition
    +
    +
    Y index in the grid
    +
    +
    +A B C D E F G H I K L M N O P Q R S T V W X Y 
    All Classes All Packages
    +
    +
    + +
    + + diff --git a/docs/java/index.html b/docs/java/index.html new file mode 100644 index 00000000..07aee441 --- /dev/null +++ b/docs/java/index.html @@ -0,0 +1,180 @@ + + + + + +Overview (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    pathplannerlib API

    +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Packages 
    PackageDescription
    com.pathplanner.lib.auto 
    com.pathplanner.lib.commands 
    com.pathplanner.lib.controllers 
    com.pathplanner.lib.path 
    com.pathplanner.lib.pathfinding 
    com.pathplanner.lib.util 
    +
    +
    +
    + +
    + + diff --git a/docs/java/jquery-ui.overrides.css b/docs/java/jquery-ui.overrides.css new file mode 100644 index 00000000..facf852c --- /dev/null +++ b/docs/java/jquery-ui.overrides.css @@ -0,0 +1,35 @@ +/* + * Copyright (c) 2020, 2022, Oracle and/or its affiliates. All rights reserved. + * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER. + * + * This code is free software; you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 2 only, as + * published by the Free Software Foundation. Oracle designates this + * particular file as subject to the "Classpath" exception as provided + * by Oracle in the LICENSE file that accompanied this code. + * + * This code is distributed in the hope that it will be useful, but WITHOUT + * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * version 2 for more details (a copy is included in the LICENSE file that + * accompanied this code). + * + * You should have received a copy of the GNU General Public License version + * 2 along with this work; if not, write to the Free Software Foundation, + * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA. + * + * Please contact Oracle, 500 Oracle Parkway, Redwood Shores, CA 94065 USA + * or visit www.oracle.com if you need additional information or have any + * questions. + */ + +.ui-state-active, +.ui-widget-content .ui-state-active, +.ui-widget-header .ui-state-active, +a.ui-button:active, +.ui-button:active, +.ui-button.ui-state-active:hover { + /* Overrides the color of selection used in jQuery UI */ + background: #F8981D; + border: 1px solid #F8981D; +} diff --git a/docs/java/jquery/external/jquery/jquery.js b/docs/java/jquery/external/jquery/jquery.js new file mode 100644 index 00000000..50937333 --- /dev/null +++ b/docs/java/jquery/external/jquery/jquery.js @@ -0,0 +1,10872 @@ +/*! + * jQuery JavaScript Library v3.5.1 + * https://jquery.com/ + * + * Includes Sizzle.js + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://jquery.org/license + * + * Date: 2020-05-04T22:49Z + */ +( function( global, factory ) { + + "use strict"; + + if ( typeof module === "object" && typeof module.exports === "object" ) { + + // For CommonJS and CommonJS-like environments where a proper `window` + // is present, execute the factory and get jQuery. + // For environments that do not have a `window` with a `document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var flat = arr.flat ? function( array ) { + return arr.flat.call( array ); +} : function( array ) { + return arr.concat.apply( [], array ); +}; + + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + +var isFunction = function isFunction( obj ) { + + // Support: Chrome <=57, Firefox <=52 + // In some browsers, typeof returns "function" for HTML elements + // (i.e., `typeof document.createElement( "object" ) === "function"`). + // We don't want to classify *any* DOM node as a function. + return typeof obj === "function" && typeof obj.nodeType !== "number"; + }; + + +var isWindow = function isWindow( obj ) { + return obj != null && obj === obj.window; + }; + + +var document = window.document; + + + + var preservedScriptAttributes = { + type: true, + src: true, + nonce: true, + noModule: true + }; + + function DOMEval( code, node, doc ) { + doc = doc || document; + + var i, val, + script = doc.createElement( "script" ); + + script.text = code; + if ( node ) { + for ( i in preservedScriptAttributes ) { + + // Support: Firefox 64+, Edge 18+ + // Some browsers don't support the "nonce" property on scripts. + // On the other hand, just using `getAttribute` is not enough as + // the `nonce` attribute is reset to an empty string whenever it + // becomes browsing-context connected. + // See https://github.com/whatwg/html/issues/2369 + // See https://html.spec.whatwg.org/#nonce-attributes + // The `node.getAttribute` check was added for the sake of + // `jQuery.globalEval` so that it can fake a nonce-containing node + // via an object. + val = node[ i ] || node.getAttribute && node.getAttribute( i ); + if ( val ) { + script.setAttribute( i, val ); + } + } + } + doc.head.appendChild( script ).parentNode.removeChild( script ); + } + + +function toType( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; +} +/* global Symbol */ +// Defining this global in .eslintrc.json would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.5.1", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + + // Return all the elements in a clean array + if ( num == null ) { + return slice.call( this ); + } + + // Return just the one element from the set + return num < 0 ? this[ num + this.length ] : this[ num ]; + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + even: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return ( i + 1 ) % 2; + } ) ); + }, + + odd: function() { + return this.pushStack( jQuery.grep( this, function( _elem, i ) { + return i % 2; + } ) ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + copy = options[ name ]; + + // Prevent Object.prototype pollution + // Prevent never-ending loop + if ( name === "__proto__" || target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = Array.isArray( copy ) ) ) ) { + src = target[ name ]; + + // Ensure proper type for the source value + if ( copyIsArray && !Array.isArray( src ) ) { + clone = []; + } else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) { + clone = {}; + } else { + clone = src; + } + copyIsArray = false; + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + // Evaluates a script in a provided context; falls back to the global one + // if not specified. + globalEval: function( code, options, doc ) { + DOMEval( code, { nonce: options && options.nonce }, doc ); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return flat( ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( _i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = toType( obj ); + + if ( isFunction( obj ) || isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.5 + * https://sizzlejs.com/ + * + * Copyright JS Foundation and other contributors + * Released under the MIT license + * https://js.foundation/ + * + * Date: 2020-03-14 + */ +( function( window ) { +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + nonnativeSelectorCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ( {} ).hasOwnProperty, + arr = [], + pop = arr.pop, + pushNative = arr.push, + push = arr.push, + slice = arr.slice, + + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[ i ] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + + "ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram + identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + + "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + + // "Attribute values must be CSS identifiers [capture 5] + // or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + + whitespace + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + + "*" ), + rdescend = new RegExp( whitespace + "|>" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + + whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + + whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rhtml = /HTML$/i, + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), + funescape = function( escape, nonHex ) { + var high = "0x" + escape.slice( 1 ) - 0x10000; + + return nonHex ? + + // Strip the backslash prefix from a non-hex escape sequence + nonHex : + + // Replace a hexadecimal escape sequence with the encoded Unicode code point + // Support: IE <=11+ + // For values outside the Basic Multilingual Plane (BMP), manually construct a + // surrogate pair + high < 0 ? + String.fromCharCode( high + 0x10000 ) : + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + inDisabledFieldset = addCombinator( + function( elem ) { + return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + ( arr = slice.call( preferredDoc.childNodes ) ), + preferredDoc.childNodes + ); + + // Support: Android<4.0 + // Detect silently failing push.apply + // eslint-disable-next-line no-unused-expressions + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + pushNative.apply( target, slice.call( els ) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + + // Can't trust NodeList.length + while ( ( target[ j++ ] = els[ i++ ] ) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + setDocument( context ); + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { + + // ID selector + if ( ( m = match[ 1 ] ) ) { + + // Document context + if ( nodeType === 9 ) { + if ( ( elem = context.getElementById( m ) ) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && ( elem = newContext.getElementById( m ) ) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[ 2 ] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !nonnativeSelectorCache[ selector + " " ] && + ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && + + // Support: IE 8 only + // Exclude object elements + ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { + + newSelector = selector; + newContext = context; + + // qSA considers elements outside a scoping root when evaluating child or + // descendant combinators, which is not what we want. + // In such cases, we work around the behavior by prefixing every selector in the + // list with an ID selector referencing the scope context. + // The technique has to be used as well when a leading combinator is used + // as such selectors are not recognized by querySelectorAll. + // Thanks to Andrew Dupont for this technique. + if ( nodeType === 1 && + ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + + // We can use :scope instead of the ID hack if the browser + // supports it & if we're not changing the context. + if ( newContext !== context || !support.scope ) { + + // Capture the context ID, setting it first if necessary + if ( ( nid = context.getAttribute( "id" ) ) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", ( nid = expando ) ); + } + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + + toSelector( groups[ i ] ); + } + newSelector = groups.join( "," ); + } + + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + nonnativeSelectorCache( selector, true ); + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return ( cache[ key + " " ] = value ); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement( "fieldset" ); + + try { + return !!fn( el ); + } catch ( e ) { + return false; + } finally { + + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split( "|" ), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[ i ] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( ( cur = cur.nextSibling ) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return ( name === "input" || name === "button" ) && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + + // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Only certain elements can match :enabled or :disabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled + // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled + if ( "form" in elem ) { + + // Check for inherited disabledness on relevant non-disabled elements: + // * listed form-associated elements in a disabled fieldset + // https://html.spec.whatwg.org/multipage/forms.html#category-listed + // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled + // * option elements in a disabled optgroup + // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled + // All such elements have a "form" property. + if ( elem.parentNode && elem.disabled === false ) { + + // Option elements defer to a parent optgroup if present + if ( "label" in elem ) { + if ( "label" in elem.parentNode ) { + return elem.parentNode.disabled === disabled; + } else { + return elem.disabled === disabled; + } + } + + // Support: IE 6 - 11 + // Use the isDisabled shortcut property to check for disabled fieldset ancestors + return elem.isDisabled === disabled || + + // Where there is no isDisabled, check manually + /* jshint -W018 */ + elem.isDisabled !== !disabled && + inDisabledFieldset( elem ) === disabled; + } + + return elem.disabled === disabled; + + // Try to winnow out elements that can't be disabled before trusting the disabled property. + // Some victims get caught in our net (label, legend, menu, track), but it shouldn't + // even exist on them, let alone have a boolean value. + } else if ( "label" in elem ) { + return elem.disabled === disabled; + } + + // Remaining elements are neither :enabled nor :disabled + return false; + }; +} + +/** + * Returns a function to use in pseudos for positionals + * @param {Function} fn + */ +function createPositionalPseudo( fn ) { + return markFunction( function( argument ) { + argument = +argument; + return markFunction( function( seed, matches ) { + var j, + matchIndexes = fn( [], seed.length, argument ), + i = matchIndexes.length; + + // Match elements found at the specified indexes + while ( i-- ) { + if ( seed[ ( j = matchIndexes[ i ] ) ] ) { + seed[ j ] = !( matches[ j ] = seed[ j ] ); + } + } + } ); + } ); +} + +/** + * Checks a node for validity as a Sizzle context + * @param {Element|Object=} context + * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value + */ +function testContext( context ) { + return context && typeof context.getElementsByTagName !== "undefined" && context; +} + +// Expose support vars for convenience +support = Sizzle.support = {}; + +/** + * Detects XML nodes + * @param {Element|Object} elem An element or a document + * @returns {Boolean} True iff elem is a non-HTML XML node + */ +isXML = Sizzle.isXML = function( elem ) { + var namespace = elem.namespaceURI, + docElem = ( elem.ownerDocument || elem ).documentElement; + + // Support: IE <=8 + // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes + // https://bugs.jquery.com/ticket/4833 + return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); +}; + +/** + * Sets document-related variables once based on the current document + * @param {Element|Object} [doc] An element or document object to use to set the document + * @returns {Object} Returns the current document + */ +setDocument = Sizzle.setDocument = function( node ) { + var hasCompare, subWindow, + doc = node ? node.ownerDocument || node : preferredDoc; + + // Return early if doc is invalid or already selected + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { + return document; + } + + // Update global variables + document = doc; + docElem = document.documentElement; + documentIsHTML = !isXML( document ); + + // Support: IE 9 - 11+, Edge 12 - 18+ + // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( preferredDoc != document && + ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { + + // Support: IE 11, Edge + if ( subWindow.addEventListener ) { + subWindow.addEventListener( "unload", unloadHandler, false ); + + // Support: IE 9 - 10 only + } else if ( subWindow.attachEvent ) { + subWindow.attachEvent( "onunload", unloadHandler ); + } + } + + // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, + // Safari 4 - 5 only, Opera <=11.6 - 12.x only + // IE/Edge & older browsers don't support the :scope pseudo-class. + // Support: Safari 6.0 only + // Safari 6.0 supports :scope but it's an alias of :root there. + support.scope = assert( function( el ) { + docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); + return typeof el.querySelectorAll !== "undefined" && + !el.querySelectorAll( ":scope fieldset div" ).length; + } ); + + /* Attributes + ---------------------------------------------------------------------- */ + + // Support: IE<8 + // Verify that getAttribute really returns attributes and not properties + // (excepting IE8 booleans) + support.attributes = assert( function( el ) { + el.className = "i"; + return !el.getAttribute( "className" ); + } ); + + /* getElement(s)By* + ---------------------------------------------------------------------- */ + + // Check if getElementsByTagName("*") returns only elements + support.getElementsByTagName = assert( function( el ) { + el.appendChild( document.createComment( "" ) ); + return !el.getElementsByTagName( "*" ).length; + } ); + + // Support: IE<9 + support.getElementsByClassName = rnative.test( document.getElementsByClassName ); + + // Support: IE<10 + // Check if getElementById returns elements by name + // The broken getElementById methods don't pick up programmatically-set names, + // so use a roundabout getElementsByName test + support.getById = assert( function( el ) { + docElem.appendChild( el ).id = expando; + return !document.getElementsByName || !document.getElementsByName( expando ).length; + } ); + + // ID filter and find + if ( support.getById ) { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + return elem.getAttribute( "id" ) === attrId; + }; + }; + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var elem = context.getElementById( id ); + return elem ? [ elem ] : []; + } + }; + } else { + Expr.filter[ "ID" ] = function( id ) { + var attrId = id.replace( runescape, funescape ); + return function( elem ) { + var node = typeof elem.getAttributeNode !== "undefined" && + elem.getAttributeNode( "id" ); + return node && node.value === attrId; + }; + }; + + // Support: IE 6 - 7 only + // getElementById is not reliable as a find shortcut + Expr.find[ "ID" ] = function( id, context ) { + if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { + var node, i, elems, + elem = context.getElementById( id ); + + if ( elem ) { + + // Verify the id attribute + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + + // Fall back on getElementsByName + elems = context.getElementsByName( id ); + i = 0; + while ( ( elem = elems[ i++ ] ) ) { + node = elem.getAttributeNode( "id" ); + if ( node && node.value === id ) { + return [ elem ]; + } + } + } + + return []; + } + }; + } + + // Tag + Expr.find[ "TAG" ] = support.getElementsByTagName ? + function( tag, context ) { + if ( typeof context.getElementsByTagName !== "undefined" ) { + return context.getElementsByTagName( tag ); + + // DocumentFragment nodes don't have gEBTN + } else if ( support.qsa ) { + return context.querySelectorAll( tag ); + } + } : + + function( tag, context ) { + var elem, + tmp = [], + i = 0, + + // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too + results = context.getElementsByTagName( tag ); + + // Filter out possible comments + if ( tag === "*" ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem.nodeType === 1 ) { + tmp.push( elem ); + } + } + + return tmp; + } + return results; + }; + + // Class + Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { + if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { + return context.getElementsByClassName( className ); + } + }; + + /* QSA/matchesSelector + ---------------------------------------------------------------------- */ + + // QSA and matchesSelector support + + // matchesSelector(:active) reports false when true (IE9/Opera 11.5) + rbuggyMatches = []; + + // qSa(:focus) reports false when true (Chrome 21) + // We allow this because of a bug in IE8/9 that throws an error + // whenever `document.activeElement` is accessed on an iframe + // So, we allow :focus to pass through QSA all the time to avoid the IE error + // See https://bugs.jquery.com/ticket/13378 + rbuggyQSA = []; + + if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { + + // Build QSA regex + // Regex strategy adopted from Diego Perini + assert( function( el ) { + + var input; + + // Select is set to empty string on purpose + // This is to test IE's treatment of not explicitly + // setting a boolean content attribute, + // since its presence should be enough + // https://bugs.jquery.com/ticket/12359 + docElem.appendChild( el ).innerHTML = "" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll( "[selected]" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push( "~=" ); + } + + // Support: IE 11+, Edge 15 - 18+ + // IE 11/Edge don't find elements on a `[name='']` query in some cases. + // Adding a temporary attribute to the document before the selection works + // around the issue. + // Interestingly, IE 10 & older don't seem to have the issue. + input = document.createElement( "input" ); + input.setAttribute( "name", "" ); + el.appendChild( input ); + if ( !el.querySelectorAll( "[name='']" ).length ) { + rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + + whitespace + "*(?:''|\"\")" ); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll( ":checked" ).length ) { + rbuggyQSA.push( ":checked" ); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push( ".#.+[+~]" ); + } + + // Support: Firefox <=3.6 - 5 only + // Old Firefox doesn't throw on a badly-escaped identifier. + el.querySelectorAll( "\\\f" ); + rbuggyQSA.push( "[\\r\\n\\f]" ); + } ); + + assert( function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement( "input" ); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll( "[name=d]" ).length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: Opera 10 - 11 only + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll( "*,:x" ); + rbuggyQSA.push( ",.*:" ); + } ); + } + + if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector ) ) ) ) { + + assert( function( el ) { + + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + } ); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + ) ); + } : + function( a, b ) { + if ( b ) { + while ( ( b = b.parentNode ) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { + + // Choose the first element that is related to our preferred document + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( a == document || a.ownerDocument == preferredDoc && + contains( preferredDoc, a ) ) { + return -1; + } + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( b == document || b.ownerDocument == preferredDoc && + contains( preferredDoc, b ) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + return a == document ? -1 : + b == document ? 1 : + /* eslint-enable eqeqeq */ + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( ( cur = cur.parentNode ) ) { + ap.unshift( cur ); + } + cur = b; + while ( ( cur = cur.parentNode ) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[ i ] === bp[ i ] ) { + i++; + } + + return i ? + + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[ i ], bp[ i ] ) : + + // Otherwise nodes in our document sort first + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + /* eslint-disable eqeqeq */ + ap[ i ] == preferredDoc ? -1 : + bp[ i ] == preferredDoc ? 1 : + /* eslint-enable eqeqeq */ + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + setDocument( elem ); + + if ( support.matchesSelector && documentIsHTML && + !nonnativeSelectorCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch ( e ) { + nonnativeSelectorCache( expr, true ); + } + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( context.ownerDocument || context ) != document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + + // Set document vars if needed + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( ( elem.ownerDocument || elem ) != document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return ( sel + "" ).replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( ( elem = results[ i++ ] ) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + + // If no nodeType, this is expected to be an array + while ( ( node = elem[ i++ ] ) ) { + + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[ 1 ] = match[ 1 ].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[ 3 ] = ( match[ 3 ] || match[ 4 ] || + match[ 5 ] || "" ).replace( runescape, funescape ); + + if ( match[ 2 ] === "~=" ) { + match[ 3 ] = " " + match[ 3 ] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[ 1 ] = match[ 1 ].toLowerCase(); + + if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { + + // nth-* requires argument + if ( !match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[ 4 ] = +( match[ 4 ] ? + match[ 5 ] + ( match[ 6 ] || 1 ) : + 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); + match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); + + // other types prohibit arguments + } else if ( match[ 3 ] ) { + Sizzle.error( match[ 0 ] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[ 6 ] && match[ 2 ]; + + if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[ 3 ] ) { + match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + + // Get excess from tokenize (recursively) + ( excess = tokenize( unquoted, true ) ) && + + // advance to the next closing parenthesis + ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { + + // excess is a negative index + match[ 0 ] = match[ 0 ].slice( 0, excess ); + match[ 2 ] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { + return true; + } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + ( pattern = new RegExp( "(^|" + whitespace + + ")" + className + "(" + whitespace + "|$)" ) ) && classCache( + className, function( elem ) { + return pattern.test( + typeof elem.className === "string" && elem.className || + typeof elem.getAttribute !== "undefined" && + elem.getAttribute( "class" ) || + "" + ); + } ); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + /* eslint-disable max-len */ + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + /* eslint-enable max-len */ + + }; + }, + + "CHILD": function( type, what, _argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, _context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( ( node = node[ dir ] ) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( ( node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + + // Use previously-cached element index if available + if ( useCache ) { + + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + + // Use the same loop as above to seek `elem` from the start + while ( ( node = ++nodeIndex && node && node[ dir ] || + ( diff = nodeIndex = 0 ) || start.pop() ) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || + ( node[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + ( outerCache[ node.uniqueID ] = {} ); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction( function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[ i ] ); + seed[ idx ] = !( matches[ idx ] = matched[ i ] ); + } + } ) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + + // Potentially complex pseudos + "not": markFunction( function( selector ) { + + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction( function( seed, matches, _context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( ( elem = unmatched[ i ] ) ) { + seed[ i ] = !( matches[ i ] = elem ); + } + } + } ) : + function( elem, _context, xml ) { + input[ 0 ] = elem; + matcher( input, null, xml, results ); + + // Don't keep the element (issue #299) + input[ 0 ] = null; + return !results.pop(); + }; + } ), + + "has": markFunction( function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + } ), + + "contains": markFunction( function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; + }; + } ), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + + // lang value must be a valid identifier + if ( !ridentifier.test( lang || "" ) ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( ( elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); + return false; + }; + } ), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && + ( !document.hasFocus || document.hasFocus() ) && + !!( elem.type || elem.href || ~elem.tabIndex ); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return ( nodeName === "input" && !!elem.checked ) || + ( nodeName === "option" && !!elem.selected ); + }, + + "selected": function( elem ) { + + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + // eslint-disable-next-line no-unused-expressions + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos[ "empty" ]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( ( attr = elem.getAttribute( "type" ) ) == null || + attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo( function() { + return [ 0 ]; + } ), + + "last": createPositionalPseudo( function( _matchIndexes, length ) { + return [ length - 1 ]; + } ), + + "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + } ), + + "even": createPositionalPseudo( function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "odd": createPositionalPseudo( function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? + argument + length : + argument > length ? + length : + argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ), + + "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + } ) + } +}; + +Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || ( match = rcomma.exec( soFar ) ) ) { + if ( match ) { + + // Don't consume trailing commas as valid + soFar = soFar.slice( match[ 0 ].length ) || soFar; + } + groups.push( ( tokens = [] ) ); + } + + matched = false; + + // Combinators + if ( ( match = rcombinators.exec( soFar ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + + // Cast descendant combinators to space + type: match[ 0 ].replace( rtrim, " " ) + } ); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || + ( match = preFilters[ type ]( match ) ) ) ) { + matched = match.shift(); + tokens.push( { + value: matched, + type: type, + matches: match + } ); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[ i ].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + return false; + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( ( elem = elem[ dir ] ) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || ( elem[ expando ] = {} ); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || + ( outerCache[ elem.uniqueID ] = {} ); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( ( oldCache = uniqueCache[ key ] ) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return ( newCache[ 2 ] = oldCache[ 2 ] ); + } else { + + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { + return true; + } + } + } + } + } + return false; + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[ i ]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[ 0 ]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[ i ], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( ( elem = unmatched[ i ] ) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction( function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( + selector || "*", + context.nodeType ? [ context ] : context, + [] + ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( ( elem = temp[ i ] ) ) { + matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) ) { + + // Restore matcherIn since elem is not yet a final match + temp.push( ( matcherIn[ i ] = elem ) ); + } + } + postFinder( null, ( matcherOut = [] ), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( ( elem = matcherOut[ i ] ) && + ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { + + seed[ temp ] = !( results[ temp ] = elem ); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + } ); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[ 0 ].type ], + implicitRelative = leadingRelative || Expr.relative[ " " ], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + ( checkContext = context ).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { + matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; + } else { + matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[ j ].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens + .slice( 0, i - 1 ) + .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), + + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), + len = elems.length; + + if ( outermost ) { + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + outermostContext = context == document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + + // Support: IE 11+, Edge 17 - 18+ + // IE/Edge sometimes throw a "Permission denied" error when strict-comparing + // two documents; shallow comparisons work. + // eslint-disable-next-line eqeqeq + if ( !context && elem.ownerDocument != document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( ( matcher = elementMatchers[ j++ ] ) ) { + if ( matcher( elem, context || document, xml ) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + + // They will have gone through all possible matchers + if ( ( elem = !matcher && elem ) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( ( matcher = setMatchers[ j++ ] ) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !( unmatched[ i ] || setMatched[ i ] ) ) { + setMatched[ i ] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[ i ] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( + selector, + matcherFromGroupMatchers( elementMatchers, setMatchers ) + ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( ( selector = compiled.selector || selector ) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[ 0 ] = match[ 0 ].slice( 0 ); + if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && + context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { + + context = ( Expr.find[ "ID" ]( token.matches[ 0 ] + .replace( runescape, funescape ), context ) || [] )[ 0 ]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[ i ]; + + // Abort if we hit a combinator + if ( Expr.relative[ ( type = token.type ) ] ) { + break; + } + if ( ( find = Expr.find[ type ] ) ) { + + // Search, expanding context for leading sibling combinators + if ( ( seed = find( + token.matches[ 0 ].replace( runescape, funescape ), + rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || + context + ) ) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert( function( el ) { + + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; +} ); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert( function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute( "href" ) === "#"; +} ) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + } ); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert( function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +} ) ) { + addHandle( "value", function( elem, _name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + } ); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert( function( el ) { + return el.getAttribute( "disabled" ) == null; +} ) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + ( val = elem.getAttributeNode( name ) ) && val.specified ? + val.value : + null; + } + } ); +} + +return Sizzle; + +} )( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + + + +function nodeName( elem, name ) { + + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + +}; +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + } + + // Single element + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + } + + // Arraylike of elements (jQuery, arguments, Array) + if ( typeof qualifier !== "string" ) { + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not; + } ); + } + + // Filtered directly for both simple and complex selectors + return jQuery.filter( qualifier, elements, not ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + if ( elems.length === 1 && elem.nodeType === 1 ) { + return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; + } + + return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, _i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, _i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, _i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + if ( elem.contentDocument != null && + + // Support: IE 11+ + // elements with no `data` attribute has an object + // `contentDocument` with a `null` prototype. + getProto( elem.contentDocument ) ) { + + return elem.contentDocument; + } + + // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only + // Treat the template element as a regular one in browsers that + // don't support it. + if ( nodeName( elem, "template" ) ) { + elem = elem.content || elem; + } + + return jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = locked || options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && toType( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject, noValue ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: + // * false: [ value ].slice( 0 ) => resolve( value ) + // * true: [ value ].slice( 1 ) => resolve() + resolve.apply( undefined, [ value ].slice( noValue ) ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.apply( undefined, [ value ] ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( _i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // rejected_handlers.disable + // fulfilled_handlers.disable + tuples[ 3 - i ][ 3 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock, + + // progress_handlers.lock + tuples[ 0 ][ 3 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, + !remaining ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( toType( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, _key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + if ( chainable ) { + return elems; + } + + // Gets + if ( bulk ) { + return fn.call( elems ); + } + + return len ? fn( elems[ 0 ], key ) : emptyGet; +}; + + +// Matches dashed string for camelizing +var rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g; + +// Used by camelCase as callback to replace() +function fcamelCase( _all, letter ) { + return letter.toUpperCase(); +} + +// Convert dashed to camelCase; used by the css and data modules +// Support: IE <=9 - 11, Edge 12 - 15 +// Microsoft forgot to hump their vendor prefix (#9572) +function camelCase( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); +} +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( Array.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( camelCase ); + } else { + key = camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnothtmlwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function getData( data ) { + if ( data === "true" ) { + return true; + } + + if ( data === "false" ) { + return false; + } + + if ( data === "null" ) { + return null; + } + + // Only convert to a number if it doesn't change the string + if ( data === +data + "" ) { + return +data; + } + + if ( rbrace.test( data ) ) { + return JSON.parse( data ); + } + + return data; +} + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = getData( data ); + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || Array.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var documentElement = document.documentElement; + + + + var isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ); + }, + composed = { composed: true }; + + // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only + // Check attachment across shadow DOM boundaries when possible (gh-3504) + // Support: iOS 10.0-10.2 only + // Early iOS 10 versions support `attachShadow` but not `getRootNode`, + // leading to errors. We need to check for `getRootNode`. + if ( documentElement.getRootNode ) { + isAttached = function( elem ) { + return jQuery.contains( elem.ownerDocument, elem ) || + elem.getRootNode( composed ) === elem.ownerDocument; + }; + } +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + isAttached( elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, scale, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = elem.nodeType && + ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Support: Firefox <=54 + // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) + initial = initial / 2; + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + while ( maxIterations-- ) { + + // Evaluate and update our best guess (doubling guesses that zero out). + // Finish if the scale equals or crosses 1 (making the old*new product non-positive). + jQuery.style( elem, prop, initialInUnit + unit ); + if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { + maxIterations = 0; + } + initialInUnit = initialInUnit / scale; + + } + + initialInUnit = initialInUnit * 2; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ); + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); + +var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); + + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; + + // Support: IE <=9 only + // IE <=9 replaces "; + support.option = !!div.lastChild; +} )(); + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
    " ], + col: [ 2, "", "
    " ], + tr: [ 2, "", "
    " ], + td: [ 3, "", "
    " ], + + _default: [ 0, "", "" ] +}; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + +// Support: IE <=9 only +if ( !support.option ) { + wrapMap.optgroup = wrapMap.option = [ 1, "" ]; +} + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret; + + if ( typeof context.getElementsByTagName !== "undefined" ) { + ret = context.getElementsByTagName( tag || "*" ); + + } else if ( typeof context.querySelectorAll !== "undefined" ) { + ret = context.querySelectorAll( tag || "*" ); + + } else { + ret = []; + } + + if ( tag === undefined || tag && nodeName( context, tag ) ) { + return jQuery.merge( [ context ], ret ); + } + + return ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, attached, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( toType( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + attached = isAttached( elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( attached ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 - 11+ +// focus() and blur() are asynchronous, except when they are no-op. +// So expect focus to be synchronous when the element is already active, +// and blur to be synchronous when the element is not already active. +// (focus and blur are always synchronous in other supported browsers, +// this just defines when we can count on it). +function expectSync( elem, type ) { + return ( elem === safeActiveElement() ) === ( type === "focus" ); +} + +// Support: IE <=9 only +// Accessing document.activeElement can throw unexpectedly +// https://bugs.jquery.com/ticket/13393 +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Only attach events to objects that accept data + if ( !acceptData( elem ) ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = Object.create( null ); + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + + // Make a writable jQuery.Event from the native event object + event = jQuery.event.fix( nativeEvent ), + + handlers = ( + dataPriv.get( this, "events" ) || Object.create( null ) + )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // If the event is namespaced, then each handler is only invoked if it is + // specially universal or its namespaces are a superset of the event's. + if ( !event.rnamespace || handleObj.namespace === false || + event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, handleObj, sel, matchedHandlers, matchedSelectors, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Find delegate handlers + if ( delegateCount && + + // Support: IE <=9 + // Black-hole SVG instance trees (trac-13180) + cur.nodeType && + + // Support: Firefox <=42 + // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) + // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click + // Support: IE 11 only + // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) + !( event.type === "click" && event.button >= 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { + matchedHandlers = []; + matchedSelectors = {}; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matchedSelectors[ sel ] === undefined ) { + matchedSelectors[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matchedSelectors[ sel ] ) { + matchedHandlers.push( handleObj ); + } + } + if ( matchedHandlers.length ) { + handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + cur = this; + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + click: { + + // Utilize native event to ensure correct state for checkable inputs + setup: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Claim the first handler + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + // dataPriv.set( el, "click", ... ) + leverageNative( el, "click", returnTrue ); + } + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function( data ) { + + // For mutual compressibility with _default, replace `this` access with a local var. + // `|| data` is dead code meant only to preserve the variable through minification. + var el = this || data; + + // Force setup before triggering a click + if ( rcheckableType.test( el.type ) && + el.click && nodeName( el, "input" ) ) { + + leverageNative( el, "click" ); + } + + // Return non-false to allow normal event-path propagation + return true; + }, + + // For cross-browser consistency, suppress native .click() on links + // Also prevent it if we're currently inside a leveraged native-event stack + _default: function( event ) { + var target = event.target; + return rcheckableType.test( target.type ) && + target.click && nodeName( target, "input" ) && + dataPriv.get( target, "click" ) || + nodeName( target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +// Ensure the presence of an event listener that handles manually-triggered +// synthetic events by interrupting progress until reinvoked in response to +// *native* events that it fires directly, ensuring that state changes have +// already occurred before other listeners are invoked. +function leverageNative( el, type, expectSync ) { + + // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add + if ( !expectSync ) { + if ( dataPriv.get( el, type ) === undefined ) { + jQuery.event.add( el, type, returnTrue ); + } + return; + } + + // Register the controller as a special universal handler for all event namespaces + dataPriv.set( el, type, false ); + jQuery.event.add( el, type, { + namespace: false, + handler: function( event ) { + var notAsync, result, + saved = dataPriv.get( this, type ); + + if ( ( event.isTrigger & 1 ) && this[ type ] ) { + + // Interrupt processing of the outer synthetic .trigger()ed event + // Saved data should be false in such cases, but might be a leftover capture object + // from an async native handler (gh-4350) + if ( !saved.length ) { + + // Store arguments for use when handling the inner native event + // There will always be at least one argument (an event object), so this array + // will not be confused with a leftover capture object. + saved = slice.call( arguments ); + dataPriv.set( this, type, saved ); + + // Trigger the native event and capture its result + // Support: IE <=9 - 11+ + // focus() and blur() are asynchronous + notAsync = expectSync( this, type ); + this[ type ](); + result = dataPriv.get( this, type ); + if ( saved !== result || notAsync ) { + dataPriv.set( this, type, false ); + } else { + result = {}; + } + if ( saved !== result ) { + + // Cancel the outer synthetic event + event.stopImmediatePropagation(); + event.preventDefault(); + return result.value; + } + + // If this is an inner synthetic event for an event with a bubbling surrogate + // (focus or blur), assume that the surrogate already propagated from triggering the + // native event and prevent that from happening again here. + // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the + // bubbling surrogate propagates *after* the non-bubbling base), but that seems + // less bad than duplication. + } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { + event.stopPropagation(); + } + + // If this is a native event triggered above, everything is now in order + // Fire an inner synthetic event with the original arguments + } else if ( saved.length ) { + + // ...and capture the result + dataPriv.set( this, type, { + value: jQuery.event.trigger( + + // Support: IE <=9 - 11+ + // Extend with the prototype to reset the above stopImmediatePropagation() + jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), + saved.slice( 1 ), + this + ) + } ); + + // Abort handling of the native event + event.stopImmediatePropagation(); + } + } + } ); +} + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || Date.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + code: true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + if ( button & 1 ) { + return 1; + } + + if ( button & 2 ) { + return 3; + } + + if ( button & 4 ) { + return 2; + } + + return 0; + } + + return event.which; + } +}, jQuery.event.addProp ); + +jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { + jQuery.event.special[ type ] = { + + // Utilize native event if possible so blur/focus sequence is correct + setup: function() { + + // Claim the first handler + // dataPriv.set( this, "focus", ... ) + // dataPriv.set( this, "blur", ... ) + leverageNative( this, type, expectSync ); + + // Return false to allow normal processing in the caller + return false; + }, + trigger: function() { + + // Force setup before trigger + leverageNative( this, type ); + + // Return non-false to allow normal event-path propagation + return true; + }, + + delegateType: delegateType + }; +} ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + // Support: IE <=10 - 11, Edge 12 - 13 only + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +// Prefer a tbody over its parent table for containing new rows +function manipulationTarget( elem, content ) { + if ( nodeName( elem, "table" ) && + nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return jQuery( elem ).children( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { + elem.type = elem.type.slice( 5 ); + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.get( src ); + events = pdataOld.events; + + if ( events ) { + dataPriv.remove( dest, "handle events" ); + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = flat( args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + valueIsFunction = isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( valueIsFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( valueIsFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl && !node.noModule ) { + jQuery._evalUrl( node.src, { + nonce: node.nonce || node.getAttribute( "nonce" ) + }, doc ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && isAttached( node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html; + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = isAttached( elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + +var swap = function( elem, options, callback ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.call( elem ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + +var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + container.style.cssText = "position:absolute;left:-11111px;width:60px;" + + "margin-top:1px;padding:0;border:0"; + div.style.cssText = + "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + + "margin:auto;border:1px;padding:1px;" + + "width:60%;top:1%"; + documentElement.appendChild( container ).appendChild( div ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; + + // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 + // Some styles come back with percentage values, even though they shouldn't + div.style.right = "60%"; + pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; + + // Support: IE 9 - 11 only + // Detect misreporting of content dimensions for box-sizing:border-box elements + boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; + + // Support: IE 9 only + // Detect overflow:scroll screwiness (gh-3699) + // Support: Chrome <=64 + // Don't get tricked when zoom affects offsetWidth (gh-4029) + div.style.position = "absolute"; + scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + function roundPixelMeasures( measure ) { + return Math.round( parseFloat( measure ) ); + } + + var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, + reliableTrDimensionsVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + jQuery.extend( support, { + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelBoxStyles: function() { + computeStyleTests(); + return pixelBoxStylesVal; + }, + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + }, + scrollboxSize: function() { + computeStyleTests(); + return scrollboxSizeVal; + }, + + // Support: IE 9 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Behavior in IE 9 is more subtle than in newer versions & it passes + // some versions of this test; make sure not to make it pass there! + reliableTrDimensions: function() { + var table, tr, trChild, trStyle; + if ( reliableTrDimensionsVal == null ) { + table = document.createElement( "table" ); + tr = document.createElement( "tr" ); + trChild = document.createElement( "div" ); + + table.style.cssText = "position:absolute;left:-11111px"; + tr.style.height = "1px"; + trChild.style.height = "9px"; + + documentElement + .appendChild( table ) + .appendChild( tr ) + .appendChild( trChild ); + + trStyle = window.getComputedStyle( tr ); + reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; + + documentElement.removeChild( table ); + } + return reliableTrDimensionsVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + + // Support: Firefox 51+ + // Retrieving style before computed somehow + // fixes an issue with getting wrong values + // on detached elements + style = elem.style; + + computed = computed || getStyles( elem ); + + // getPropertyValue is needed for: + // .css('filter') (IE 9 only, #12537) + // .css('--customProperty) (#3144) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !isAttached( elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style, + vendorProps = {}; + +// Return a vendor-prefixed property or undefined +function vendorPropName( name ) { + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +// Return a potentially-mapped jQuery.cssProps or vendor prefixed property +function finalPropName( name ) { + var final = jQuery.cssProps[ name ] || vendorProps[ name ]; + + if ( final ) { + return final; + } + if ( name in emptyStyle ) { + return name; + } + return vendorProps[ name ] = vendorPropName( name ) || name; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + rcustomProp = /^--/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }; + +function setPositiveNumber( _elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { + var i = dimension === "width" ? 1 : 0, + extra = 0, + delta = 0; + + // Adjustment may not be necessary + if ( box === ( isBorderBox ? "border" : "content" ) ) { + return 0; + } + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin + if ( box === "margin" ) { + delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); + } + + // If we get here with a content-box, we're seeking "padding" or "border" or "margin" + if ( !isBorderBox ) { + + // Add padding + delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // For "border" or "margin", add border + if ( box !== "padding" ) { + delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + + // But still keep track of it otherwise + } else { + extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + + // If we get here with a border-box (content + padding + border), we're seeking "content" or + // "padding" or "margin" + } else { + + // For "content", subtract padding + if ( box === "content" ) { + delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // For "content" or "padding", subtract border + if ( box !== "margin" ) { + delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + // Account for positive content-box scroll gutter when requested by providing computedVal + if ( !isBorderBox && computedVal >= 0 ) { + + // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border + // Assuming integer scroll gutter, subtract the rest and round down + delta += Math.max( 0, Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + computedVal - + delta - + extra - + 0.5 + + // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter + // Use an explicit zero to avoid NaN (gh-3964) + ) ) || 0; + } + + return delta; +} + +function getWidthOrHeight( elem, dimension, extra ) { + + // Start with computed style + var styles = getStyles( elem ), + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). + // Fake content-box until we know it's needed to know the true value. + boxSizingNeeded = !support.boxSizingReliable() || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + valueIsBorderBox = isBorderBox, + + val = curCSS( elem, dimension, styles ), + offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); + + // Support: Firefox <=54 + // Return a confounding non-pixel value or feign ignorance, as appropriate. + if ( rnumnonpx.test( val ) ) { + if ( !extra ) { + return val; + } + val = "auto"; + } + + + // Support: IE 9 - 11 only + // Use offsetWidth/offsetHeight for when box sizing is unreliable. + // In those cases, the computed value can be trusted to be border-box. + if ( ( !support.boxSizingReliable() && isBorderBox || + + // Support: IE 10 - 11+, Edge 15 - 18+ + // IE/Edge misreport `getComputedStyle` of table rows with width/height + // set in CSS while `offset*` properties report correct values. + // Interestingly, in some cases IE 9 doesn't suffer from this issue. + !support.reliableTrDimensions() && nodeName( elem, "tr" ) || + + // Fall back to offsetWidth/offsetHeight when value is "auto" + // This happens for inline elements with no explicit setting (gh-3571) + val === "auto" || + + // Support: Android <=4.1 - 4.3 only + // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) + !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && + + // Make sure the element is visible & connected + elem.getClientRects().length ) { + + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Where available, offsetWidth/offsetHeight approximate border box dimensions. + // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the + // retrieved value as a content box dimension. + valueIsBorderBox = offsetProp in elem; + if ( valueIsBorderBox ) { + val = elem[ offsetProp ]; + } + } + + // Normalize "" and auto + val = parseFloat( val ) || 0; + + // Adjust for the element's box model + return ( val + + boxModelAdjustment( + elem, + dimension, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles, + + // Provide the current computed size to request scroll gutter calculation (gh-3589) + val + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "gridArea": true, + "gridColumn": true, + "gridColumnEnd": true, + "gridColumnStart": true, + "gridRow": true, + "gridRowEnd": true, + "gridRowStart": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: {}, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ), + style = elem.style; + + // Make sure that we're working with the right name. We don't + // want to query the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append + // "px" to a few hardcoded values. + if ( type === "number" && !isCustomProp ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + if ( isCustomProp ) { + style.setProperty( name, value ); + } else { + style[ name ] = value; + } + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = camelCase( name ), + isCustomProp = rcustomProp.test( name ); + + // Make sure that we're working with the right name. We don't + // want to modify the value if it is a CSS custom property + // since they are user-defined. + if ( !isCustomProp ) { + name = finalPropName( origName ); + } + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( _i, dimension ) { + jQuery.cssHooks[ dimension ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, dimension, extra ); + } ) : + getWidthOrHeight( elem, dimension, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = getStyles( elem ), + + // Only read styles.position if the test has a chance to fail + // to avoid forcing a reflow. + scrollboxSizeBuggy = !support.scrollboxSize() && + styles.position === "absolute", + + // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) + boxSizingNeeded = scrollboxSizeBuggy || extra, + isBorderBox = boxSizingNeeded && + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + subtract = extra ? + boxModelAdjustment( + elem, + dimension, + extra, + isBorderBox, + styles + ) : + 0; + + // Account for unreliable border-box dimensions by comparing offset* to computed and + // faking a content-box to get border and padding (gh-3699) + if ( isBorderBox && scrollboxSizeBuggy ) { + subtract -= Math.ceil( + elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - + parseFloat( styles[ dimension ] ) - + boxModelAdjustment( elem, dimension, "border", false, styles ) - + 0.5 + ); + } + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ dimension ] = value; + value = jQuery.css( elem, dimension ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( prefix !== "margin" ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( Array.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && ( + jQuery.cssHooks[ tween.prop ] || + tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, inProgress, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function schedule() { + if ( inProgress ) { + if ( document.hidden === false && window.requestAnimationFrame ) { + window.requestAnimationFrame( schedule ); + } else { + window.setTimeout( schedule, jQuery.fx.interval ); + } + + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = Date.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 15 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY and Edge just mirrors + // the overflowX value there. + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( Array.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + // If there's more to do, yield + if ( percent < 1 && length ) { + return remaining; + } + + // If this was an empty animation, synthesize a final progress notification + if ( !length ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + } + + // Resolve the animation and report its conclusion + deferred.resolveWith( elem, [ animation ] ); + return false; + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + result.stop.bind( result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + // Attach callbacks from options + animation + .progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + return animation; +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnothtmlwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !isFunction( easing ) && easing + }; + + // Go to the end state if fx are off + if ( jQuery.fx.off ) { + opt.duration = 0; + + } else { + if ( typeof opt.duration !== "number" ) { + if ( opt.duration in jQuery.fx.speeds ) { + opt.duration = jQuery.fx.speeds[ opt.duration ]; + + } else { + opt.duration = jQuery.fx.speeds._default; + } + } + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = Date.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Run the timer and safely remove it when done (allowing for external removal) + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + jQuery.fx.start(); +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( inProgress ) { + return; + } + + inProgress = true; + schedule(); +}; + +jQuery.fx.stop = function() { + inProgress = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + + // Attribute names can contain non-HTML whitespace characters + // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 + attrNames = value && value.match( rnothtmlwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + if ( tabindex ) { + return parseInt( tabindex, 10 ); + } + + if ( + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && + elem.href + ) { + return 0; + } + + return -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +// eslint rule "no-unused-expressions" is disabled for this code +// since it considers such accessions noop +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + + /* eslint no-unused-expressions: "off" */ + + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + + // Strip and collapse whitespace according to HTML spec + // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace + function stripAndCollapse( value ) { + var tokens = value.match( rnothtmlwhite ) || []; + return tokens.join( " " ); + } + + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +function classesToArray( value ) { + if ( Array.isArray( value ) ) { + return value; + } + if ( typeof value === "string" ) { + return value.match( rnothtmlwhite ) || []; + } + return []; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + classes = classesToArray( value ); + + if ( classes.length ) { + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = stripAndCollapse( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value, + isValidValue = type === "string" || Array.isArray( value ); + + if ( typeof stateVal === "boolean" && isValidValue ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( isValidValue ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = classesToArray( value ); + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, valueIsFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + // Handle most common string cases + if ( typeof ret === "string" ) { + return ret.replace( rreturn, "" ); + } + + // Handle cases where value is null/undef or number + return ret == null ? "" : ret; + } + + return; + } + + valueIsFunction = isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( valueIsFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( Array.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + stripAndCollapse( jQuery.text( elem ) ); + } + }, + select: { + get: function( elem ) { + var value, option, i, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length; + + if ( index < 0 ) { + i = max; + + } else { + i = one ? index : 0; + } + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( Array.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +support.focusin = "onfocusin" in window; + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, + stopPropagationCallback = function( e ) { + e.stopPropagation(); + }; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = lastElement = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + lastElement = cur; + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( + dataPriv.get( cur, "events" ) || Object.create( null ) + )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + + if ( event.isPropagationStopped() ) { + lastElement.addEventListener( type, stopPropagationCallback ); + } + + elem[ type ](); + + if ( event.isPropagationStopped() ) { + lastElement.removeEventListener( type, stopPropagationCallback ); + } + + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + + // Handle: regular nodes (via `this.ownerDocument`), window + // (via `this.document`) & document (via `this`). + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this.document || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = { guid: Date.now() }; + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( Array.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && toType( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + if ( a == null ) { + return ""; + } + + // If an array was passed in, assume that it is an array of form elements. + if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( _i, elem ) { + var val = jQuery( this ).val(); + + if ( val == null ) { + return null; + } + + if ( Array.isArray( val ) ) { + return jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ); + } + + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rantiCache = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; + + if ( isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() + " " ] = + ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) + .concat( match[ 2 ] ); + } + } + match = responseHeaders[ key.toLowerCase() + " " ]; + } + return match == null ? null : match.join( ", " ); + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 15 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available and should be processed, append data to url + if ( s.data && ( s.processData || typeof s.data === "string" ) ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add or update anti-cache param if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rantiCache, "$1" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Use a noop converter for missing script + if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { + s.converters[ "text script" ] = function() {}; + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( _i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + +jQuery.ajaxPrefilter( function( s ) { + var i; + for ( i in s.headers ) { + if ( i.toLowerCase() === "content-type" ) { + s.contentType = s.headers[ i ] || ""; + } + } +} ); + + +jQuery._evalUrl = function( url, options, doc ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + + // Only evaluate the response if it is successful (gh-4126) + // dataFilter is not invoked for failure responses, so using it instead + // of the default converter is kludgy but it works. + converters: { + "text script": function() {} + }, + dataFilter: function( response ) { + jQuery.globalEval( response, options, doc ); + } + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var htmlIsFunction = isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.ontimeout = + xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain or forced-by-attrs requests + if ( s.crossDomain || s.scriptAttrs ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( "\r\n"; + +// inject VBScript +document.write(IEBinaryToArray_ByteStr_Script); + +global.JSZipUtils._getBinaryFromXHR = function (xhr) { + var binary = xhr.responseBody; + var byteMapping = {}; + for ( var i = 0; i < 256; i++ ) { + for ( var j = 0; j < 256; j++ ) { + byteMapping[ String.fromCharCode( i + (j << 8) ) ] = + String.fromCharCode(i) + String.fromCharCode(j); + } + } + var rawBytes = IEBinaryToArray_ByteStr(binary); + var lastChr = IEBinaryToArray_ByteStr_Last(binary); + return rawBytes.replace(/[\s\S]/g, function( match ) { + return byteMapping[match]; + }) + lastChr; +}; + +// enforcing Stuk's coding style +// vim: set shiftwidth=4 softtabstop=4: + +},{}]},{},[1]) +; diff --git a/docs/java/jquery/jszip-utils/dist/jszip-utils-ie.min.js b/docs/java/jquery/jszip-utils/dist/jszip-utils-ie.min.js new file mode 100644 index 00000000..93d8bc8e --- /dev/null +++ b/docs/java/jquery/jszip-utils/dist/jszip-utils-ie.min.js @@ -0,0 +1,10 @@ +/*! + +JSZipUtils - A collection of cross-browser utilities to go along with JSZip. + + +(c) 2014 Stuart Knightley, David Duponchel +Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown. + +*/ +!function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);throw new Error("Cannot find module '"+g+"'")}var j=c[g]={exports:{}};b[g][0].call(j.exports,function(a){var c=b[g][1][a];return e(c?c:a)},j,j.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g\r\n";document.write(b),a.JSZipUtils._getBinaryFromXHR=function(a){for(var b=a.responseBody,c={},d=0;256>d;d++)for(var e=0;256>e;e++)c[String.fromCharCode(d+(e<<8))]=String.fromCharCode(d)+String.fromCharCode(e);var f=IEBinaryToArray_ByteStr(b),g=IEBinaryToArray_ByteStr_Last(b);return f.replace(/[\s\S]/g,function(a){return c[a]})+g}},{}]},{},[1]); diff --git a/docs/java/jquery/jszip-utils/dist/jszip-utils.js b/docs/java/jquery/jszip-utils/dist/jszip-utils.js new file mode 100644 index 00000000..775895ec --- /dev/null +++ b/docs/java/jquery/jszip-utils/dist/jszip-utils.js @@ -0,0 +1,118 @@ +/*! + +JSZipUtils - A collection of cross-browser utilities to go along with JSZip. + + +(c) 2014 Stuart Knightley, David Duponchel +Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown. + +*/ +!function(e){"object"==typeof exports?module.exports=e():"function"==typeof define&&define.amd?define(e):"undefined"!=typeof window?window.JSZipUtils=e():"undefined"!=typeof global?global.JSZipUtils=e():"undefined"!=typeof self&&(self.JSZipUtils=e())}(function(){var define,module,exports;return (function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);throw new Error("Cannot find module '"+o+"'")}var f=n[o]={exports:{}};t[o][0].call(f.exports,function(e){var n=t[o][1][e];return s(n?n:e)},f,f.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o + +(c) 2014 Stuart Knightley, David Duponchel +Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown. + +*/ +!function(a){"object"==typeof exports?module.exports=a():"function"==typeof define&&define.amd?define(a):"undefined"!=typeof window?window.JSZipUtils=a():"undefined"!=typeof global?global.JSZipUtils=a():"undefined"!=typeof self&&(self.JSZipUtils=a())}(function(){return function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);throw new Error("Cannot find module '"+g+"'")}var j=c[g]={exports:{}};b[g][0].call(j.exports,function(a){var c=b[g][1][a];return e(c?c:a)},j,j.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g + +(c) 2009-2016 Stuart Knightley +Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip/master/LICENSE.markdown. + +JSZip uses the library pako released under the MIT license : +https://github.com/nodeca/pako/blob/master/LICENSE +*/ + +(function(f){if(typeof exports==="object"&&typeof module!=="undefined"){module.exports=f()}else if(typeof define==="function"&&define.amd){define([],f)}else{var g;if(typeof window!=="undefined"){g=window}else if(typeof global!=="undefined"){g=global}else if(typeof self!=="undefined"){g=self}else{g=this}g.JSZip = f()}})(function(){var define,module,exports;return (function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);var f=new Error("Cannot find module '"+o+"'");throw f.code="MODULE_NOT_FOUND",f}var l=n[o]={exports:{}};t[o][0].call(l.exports,function(e){var n=t[o][1][e];return s(n?n:e)},l,l.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o> 2; + enc2 = ((chr1 & 3) << 4) | (chr2 >> 4); + enc3 = remainingBytes > 1 ? (((chr2 & 15) << 2) | (chr3 >> 6)) : 64; + enc4 = remainingBytes > 2 ? (chr3 & 63) : 64; + + output.push(_keyStr.charAt(enc1) + _keyStr.charAt(enc2) + _keyStr.charAt(enc3) + _keyStr.charAt(enc4)); + + } + + return output.join(""); +}; + +// public method for decoding +exports.decode = function(input) { + var chr1, chr2, chr3; + var enc1, enc2, enc3, enc4; + var i = 0, resultIndex = 0; + + var dataUrlPrefix = "data:"; + + if (input.substr(0, dataUrlPrefix.length) === dataUrlPrefix) { + // This is a common error: people give a data url + // (data:image/png;base64,iVBOR...) with a {base64: true} and + // wonders why things don't work. + // We can detect that the string input looks like a data url but we + // *can't* be sure it is one: removing everything up to the comma would + // be too dangerous. + throw new Error("Invalid base64 input, it looks like a data url."); + } + + input = input.replace(/[^A-Za-z0-9\+\/\=]/g, ""); + + var totalLength = input.length * 3 / 4; + if(input.charAt(input.length - 1) === _keyStr.charAt(64)) { + totalLength--; + } + if(input.charAt(input.length - 2) === _keyStr.charAt(64)) { + totalLength--; + } + if (totalLength % 1 !== 0) { + // totalLength is not an integer, the length does not match a valid + // base64 content. That can happen if: + // - the input is not a base64 content + // - the input is *almost* a base64 content, with a extra chars at the + // beginning or at the end + // - the input uses a base64 variant (base64url for example) + throw new Error("Invalid base64 input, bad content length."); + } + var output; + if (support.uint8array) { + output = new Uint8Array(totalLength|0); + } else { + output = new Array(totalLength|0); + } + + while (i < input.length) { + + enc1 = _keyStr.indexOf(input.charAt(i++)); + enc2 = _keyStr.indexOf(input.charAt(i++)); + enc3 = _keyStr.indexOf(input.charAt(i++)); + enc4 = _keyStr.indexOf(input.charAt(i++)); + + chr1 = (enc1 << 2) | (enc2 >> 4); + chr2 = ((enc2 & 15) << 4) | (enc3 >> 2); + chr3 = ((enc3 & 3) << 6) | enc4; + + output[resultIndex++] = chr1; + + if (enc3 !== 64) { + output[resultIndex++] = chr2; + } + if (enc4 !== 64) { + output[resultIndex++] = chr3; + } + + } + + return output; +}; + +},{"./support":30,"./utils":32}],2:[function(require,module,exports){ +'use strict'; + +var external = require("./external"); +var DataWorker = require('./stream/DataWorker'); +var Crc32Probe = require('./stream/Crc32Probe'); +var DataLengthProbe = require('./stream/DataLengthProbe'); + +/** + * Represent a compressed object, with everything needed to decompress it. + * @constructor + * @param {number} compressedSize the size of the data compressed. + * @param {number} uncompressedSize the size of the data after decompression. + * @param {number} crc32 the crc32 of the decompressed file. + * @param {object} compression the type of compression, see lib/compressions.js. + * @param {String|ArrayBuffer|Uint8Array|Buffer} data the compressed data. + */ +function CompressedObject(compressedSize, uncompressedSize, crc32, compression, data) { + this.compressedSize = compressedSize; + this.uncompressedSize = uncompressedSize; + this.crc32 = crc32; + this.compression = compression; + this.compressedContent = data; +} + +CompressedObject.prototype = { + /** + * Create a worker to get the uncompressed content. + * @return {GenericWorker} the worker. + */ + getContentWorker: function () { + var worker = new DataWorker(external.Promise.resolve(this.compressedContent)) + .pipe(this.compression.uncompressWorker()) + .pipe(new DataLengthProbe("data_length")); + + var that = this; + worker.on("end", function () { + if (this.streamInfo['data_length'] !== that.uncompressedSize) { + throw new Error("Bug : uncompressed data size mismatch"); + } + }); + return worker; + }, + /** + * Create a worker to get the compressed content. + * @return {GenericWorker} the worker. + */ + getCompressedWorker: function () { + return new DataWorker(external.Promise.resolve(this.compressedContent)) + .withStreamInfo("compressedSize", this.compressedSize) + .withStreamInfo("uncompressedSize", this.uncompressedSize) + .withStreamInfo("crc32", this.crc32) + .withStreamInfo("compression", this.compression) + ; + } +}; + +/** + * Chain the given worker with other workers to compress the content with the + * given compression. + * @param {GenericWorker} uncompressedWorker the worker to pipe. + * @param {Object} compression the compression object. + * @param {Object} compressionOptions the options to use when compressing. + * @return {GenericWorker} the new worker compressing the content. + */ +CompressedObject.createWorkerFrom = function (uncompressedWorker, compression, compressionOptions) { + return uncompressedWorker + .pipe(new Crc32Probe()) + .pipe(new DataLengthProbe("uncompressedSize")) + .pipe(compression.compressWorker(compressionOptions)) + .pipe(new DataLengthProbe("compressedSize")) + .withStreamInfo("compression", compression); +}; + +module.exports = CompressedObject; + +},{"./external":6,"./stream/Crc32Probe":25,"./stream/DataLengthProbe":26,"./stream/DataWorker":27}],3:[function(require,module,exports){ +'use strict'; + +var GenericWorker = require("./stream/GenericWorker"); + +exports.STORE = { + magic: "\x00\x00", + compressWorker : function (compressionOptions) { + return new GenericWorker("STORE compression"); + }, + uncompressWorker : function () { + return new GenericWorker("STORE decompression"); + } +}; +exports.DEFLATE = require('./flate'); + +},{"./flate":7,"./stream/GenericWorker":28}],4:[function(require,module,exports){ +'use strict'; + +var utils = require('./utils'); + +/** + * The following functions come from pako, from pako/lib/zlib/crc32.js + * released under the MIT license, see pako https://github.com/nodeca/pako/ + */ + +// Use ordinary array, since untyped makes no boost here +function makeTable() { + var c, table = []; + + for(var n =0; n < 256; n++){ + c = n; + for(var k =0; k < 8; k++){ + c = ((c&1) ? (0xEDB88320 ^ (c >>> 1)) : (c >>> 1)); + } + table[n] = c; + } + + return table; +} + +// Create table on load. Just 255 signed longs. Not a problem. +var crcTable = makeTable(); + + +function crc32(crc, buf, len, pos) { + var t = crcTable, end = pos + len; + + crc = crc ^ (-1); + + for (var i = pos; i < end; i++ ) { + crc = (crc >>> 8) ^ t[(crc ^ buf[i]) & 0xFF]; + } + + return (crc ^ (-1)); // >>> 0; +} + +// That's all for the pako functions. + +/** + * Compute the crc32 of a string. + * This is almost the same as the function crc32, but for strings. Using the + * same function for the two use cases leads to horrible performances. + * @param {Number} crc the starting value of the crc. + * @param {String} str the string to use. + * @param {Number} len the length of the string. + * @param {Number} pos the starting position for the crc32 computation. + * @return {Number} the computed crc32. + */ +function crc32str(crc, str, len, pos) { + var t = crcTable, end = pos + len; + + crc = crc ^ (-1); + + for (var i = pos; i < end; i++ ) { + crc = (crc >>> 8) ^ t[(crc ^ str.charCodeAt(i)) & 0xFF]; + } + + return (crc ^ (-1)); // >>> 0; +} + +module.exports = function crc32wrapper(input, crc) { + if (typeof input === "undefined" || !input.length) { + return 0; + } + + var isArray = utils.getTypeOf(input) !== "string"; + + if(isArray) { + return crc32(crc|0, input, input.length, 0); + } else { + return crc32str(crc|0, input, input.length, 0); + } +}; + +},{"./utils":32}],5:[function(require,module,exports){ +'use strict'; +exports.base64 = false; +exports.binary = false; +exports.dir = false; +exports.createFolders = true; +exports.date = null; +exports.compression = null; +exports.compressionOptions = null; +exports.comment = null; +exports.unixPermissions = null; +exports.dosPermissions = null; + +},{}],6:[function(require,module,exports){ +/* global Promise */ +'use strict'; + +// load the global object first: +// - it should be better integrated in the system (unhandledRejection in node) +// - the environment may have a custom Promise implementation (see zone.js) +var ES6Promise = null; +if (typeof Promise !== "undefined") { + ES6Promise = Promise; +} else { + ES6Promise = require("lie"); +} + +/** + * Let the user use/change some implementations. + */ +module.exports = { + Promise: ES6Promise +}; + +},{"lie":37}],7:[function(require,module,exports){ +'use strict'; +var USE_TYPEDARRAY = (typeof Uint8Array !== 'undefined') && (typeof Uint16Array !== 'undefined') && (typeof Uint32Array !== 'undefined'); + +var pako = require("pako"); +var utils = require("./utils"); +var GenericWorker = require("./stream/GenericWorker"); + +var ARRAY_TYPE = USE_TYPEDARRAY ? "uint8array" : "array"; + +exports.magic = "\x08\x00"; + +/** + * Create a worker that uses pako to inflate/deflate. + * @constructor + * @param {String} action the name of the pako function to call : either "Deflate" or "Inflate". + * @param {Object} options the options to use when (de)compressing. + */ +function FlateWorker(action, options) { + GenericWorker.call(this, "FlateWorker/" + action); + + this._pako = null; + this._pakoAction = action; + this._pakoOptions = options; + // the `meta` object from the last chunk received + // this allow this worker to pass around metadata + this.meta = {}; +} + +utils.inherits(FlateWorker, GenericWorker); + +/** + * @see GenericWorker.processChunk + */ +FlateWorker.prototype.processChunk = function (chunk) { + this.meta = chunk.meta; + if (this._pako === null) { + this._createPako(); + } + this._pako.push(utils.transformTo(ARRAY_TYPE, chunk.data), false); +}; + +/** + * @see GenericWorker.flush + */ +FlateWorker.prototype.flush = function () { + GenericWorker.prototype.flush.call(this); + if (this._pako === null) { + this._createPako(); + } + this._pako.push([], true); +}; +/** + * @see GenericWorker.cleanUp + */ +FlateWorker.prototype.cleanUp = function () { + GenericWorker.prototype.cleanUp.call(this); + this._pako = null; +}; + +/** + * Create the _pako object. + * TODO: lazy-loading this object isn't the best solution but it's the + * quickest. The best solution is to lazy-load the worker list. See also the + * issue #446. + */ +FlateWorker.prototype._createPako = function () { + this._pako = new pako[this._pakoAction]({ + raw: true, + level: this._pakoOptions.level || -1 // default compression + }); + var self = this; + this._pako.onData = function(data) { + self.push({ + data : data, + meta : self.meta + }); + }; +}; + +exports.compressWorker = function (compressionOptions) { + return new FlateWorker("Deflate", compressionOptions); +}; +exports.uncompressWorker = function () { + return new FlateWorker("Inflate", {}); +}; + +},{"./stream/GenericWorker":28,"./utils":32,"pako":38}],8:[function(require,module,exports){ +'use strict'; + +var utils = require('../utils'); +var GenericWorker = require('../stream/GenericWorker'); +var utf8 = require('../utf8'); +var crc32 = require('../crc32'); +var signature = require('../signature'); + +/** + * Transform an integer into a string in hexadecimal. + * @private + * @param {number} dec the number to convert. + * @param {number} bytes the number of bytes to generate. + * @returns {string} the result. + */ +var decToHex = function(dec, bytes) { + var hex = "", i; + for (i = 0; i < bytes; i++) { + hex += String.fromCharCode(dec & 0xff); + dec = dec >>> 8; + } + return hex; +}; + +/** + * Generate the UNIX part of the external file attributes. + * @param {Object} unixPermissions the unix permissions or null. + * @param {Boolean} isDir true if the entry is a directory, false otherwise. + * @return {Number} a 32 bit integer. + * + * adapted from http://unix.stackexchange.com/questions/14705/the-zip-formats-external-file-attribute : + * + * TTTTsstrwxrwxrwx0000000000ADVSHR + * ^^^^____________________________ file type, see zipinfo.c (UNX_*) + * ^^^_________________________ setuid, setgid, sticky + * ^^^^^^^^^________________ permissions + * ^^^^^^^^^^______ not used ? + * ^^^^^^ DOS attribute bits : Archive, Directory, Volume label, System file, Hidden, Read only + */ +var generateUnixExternalFileAttr = function (unixPermissions, isDir) { + + var result = unixPermissions; + if (!unixPermissions) { + // I can't use octal values in strict mode, hence the hexa. + // 040775 => 0x41fd + // 0100664 => 0x81b4 + result = isDir ? 0x41fd : 0x81b4; + } + return (result & 0xFFFF) << 16; +}; + +/** + * Generate the DOS part of the external file attributes. + * @param {Object} dosPermissions the dos permissions or null. + * @param {Boolean} isDir true if the entry is a directory, false otherwise. + * @return {Number} a 32 bit integer. + * + * Bit 0 Read-Only + * Bit 1 Hidden + * Bit 2 System + * Bit 3 Volume Label + * Bit 4 Directory + * Bit 5 Archive + */ +var generateDosExternalFileAttr = function (dosPermissions, isDir) { + + // the dir flag is already set for compatibility + return (dosPermissions || 0) & 0x3F; +}; + +/** + * Generate the various parts used in the construction of the final zip file. + * @param {Object} streamInfo the hash with information about the compressed file. + * @param {Boolean} streamedContent is the content streamed ? + * @param {Boolean} streamingEnded is the stream finished ? + * @param {number} offset the current offset from the start of the zip file. + * @param {String} platform let's pretend we are this platform (change platform dependents fields) + * @param {Function} encodeFileName the function to encode the file name / comment. + * @return {Object} the zip parts. + */ +var generateZipParts = function(streamInfo, streamedContent, streamingEnded, offset, platform, encodeFileName) { + var file = streamInfo['file'], + compression = streamInfo['compression'], + useCustomEncoding = encodeFileName !== utf8.utf8encode, + encodedFileName = utils.transformTo("string", encodeFileName(file.name)), + utfEncodedFileName = utils.transformTo("string", utf8.utf8encode(file.name)), + comment = file.comment, + encodedComment = utils.transformTo("string", encodeFileName(comment)), + utfEncodedComment = utils.transformTo("string", utf8.utf8encode(comment)), + useUTF8ForFileName = utfEncodedFileName.length !== file.name.length, + useUTF8ForComment = utfEncodedComment.length !== comment.length, + dosTime, + dosDate, + extraFields = "", + unicodePathExtraField = "", + unicodeCommentExtraField = "", + dir = file.dir, + date = file.date; + + + var dataInfo = { + crc32 : 0, + compressedSize : 0, + uncompressedSize : 0 + }; + + // if the content is streamed, the sizes/crc32 are only available AFTER + // the end of the stream. + if (!streamedContent || streamingEnded) { + dataInfo.crc32 = streamInfo['crc32']; + dataInfo.compressedSize = streamInfo['compressedSize']; + dataInfo.uncompressedSize = streamInfo['uncompressedSize']; + } + + var bitflag = 0; + if (streamedContent) { + // Bit 3: the sizes/crc32 are set to zero in the local header. + // The correct values are put in the data descriptor immediately + // following the compressed data. + bitflag |= 0x0008; + } + if (!useCustomEncoding && (useUTF8ForFileName || useUTF8ForComment)) { + // Bit 11: Language encoding flag (EFS). + bitflag |= 0x0800; + } + + + var extFileAttr = 0; + var versionMadeBy = 0; + if (dir) { + // dos or unix, we set the dos dir flag + extFileAttr |= 0x00010; + } + if(platform === "UNIX") { + versionMadeBy = 0x031E; // UNIX, version 3.0 + extFileAttr |= generateUnixExternalFileAttr(file.unixPermissions, dir); + } else { // DOS or other, fallback to DOS + versionMadeBy = 0x0014; // DOS, version 2.0 + extFileAttr |= generateDosExternalFileAttr(file.dosPermissions, dir); + } + + // date + // @see http://www.delorie.com/djgpp/doc/rbinter/it/52/13.html + // @see http://www.delorie.com/djgpp/doc/rbinter/it/65/16.html + // @see http://www.delorie.com/djgpp/doc/rbinter/it/66/16.html + + dosTime = date.getUTCHours(); + dosTime = dosTime << 6; + dosTime = dosTime | date.getUTCMinutes(); + dosTime = dosTime << 5; + dosTime = dosTime | date.getUTCSeconds() / 2; + + dosDate = date.getUTCFullYear() - 1980; + dosDate = dosDate << 4; + dosDate = dosDate | (date.getUTCMonth() + 1); + dosDate = dosDate << 5; + dosDate = dosDate | date.getUTCDate(); + + if (useUTF8ForFileName) { + // set the unicode path extra field. unzip needs at least one extra + // field to correctly handle unicode path, so using the path is as good + // as any other information. This could improve the situation with + // other archive managers too. + // This field is usually used without the utf8 flag, with a non + // unicode path in the header (winrar, winzip). This helps (a bit) + // with the messy Windows' default compressed folders feature but + // breaks on p7zip which doesn't seek the unicode path extra field. + // So for now, UTF-8 everywhere ! + unicodePathExtraField = + // Version + decToHex(1, 1) + + // NameCRC32 + decToHex(crc32(encodedFileName), 4) + + // UnicodeName + utfEncodedFileName; + + extraFields += + // Info-ZIP Unicode Path Extra Field + "\x75\x70" + + // size + decToHex(unicodePathExtraField.length, 2) + + // content + unicodePathExtraField; + } + + if(useUTF8ForComment) { + + unicodeCommentExtraField = + // Version + decToHex(1, 1) + + // CommentCRC32 + decToHex(crc32(encodedComment), 4) + + // UnicodeName + utfEncodedComment; + + extraFields += + // Info-ZIP Unicode Path Extra Field + "\x75\x63" + + // size + decToHex(unicodeCommentExtraField.length, 2) + + // content + unicodeCommentExtraField; + } + + var header = ""; + + // version needed to extract + header += "\x0A\x00"; + // general purpose bit flag + header += decToHex(bitflag, 2); + // compression method + header += compression.magic; + // last mod file time + header += decToHex(dosTime, 2); + // last mod file date + header += decToHex(dosDate, 2); + // crc-32 + header += decToHex(dataInfo.crc32, 4); + // compressed size + header += decToHex(dataInfo.compressedSize, 4); + // uncompressed size + header += decToHex(dataInfo.uncompressedSize, 4); + // file name length + header += decToHex(encodedFileName.length, 2); + // extra field length + header += decToHex(extraFields.length, 2); + + + var fileRecord = signature.LOCAL_FILE_HEADER + header + encodedFileName + extraFields; + + var dirRecord = signature.CENTRAL_FILE_HEADER + + // version made by (00: DOS) + decToHex(versionMadeBy, 2) + + // file header (common to file and central directory) + header + + // file comment length + decToHex(encodedComment.length, 2) + + // disk number start + "\x00\x00" + + // internal file attributes TODO + "\x00\x00" + + // external file attributes + decToHex(extFileAttr, 4) + + // relative offset of local header + decToHex(offset, 4) + + // file name + encodedFileName + + // extra field + extraFields + + // file comment + encodedComment; + + return { + fileRecord: fileRecord, + dirRecord: dirRecord + }; +}; + +/** + * Generate the EOCD record. + * @param {Number} entriesCount the number of entries in the zip file. + * @param {Number} centralDirLength the length (in bytes) of the central dir. + * @param {Number} localDirLength the length (in bytes) of the local dir. + * @param {String} comment the zip file comment as a binary string. + * @param {Function} encodeFileName the function to encode the comment. + * @return {String} the EOCD record. + */ +var generateCentralDirectoryEnd = function (entriesCount, centralDirLength, localDirLength, comment, encodeFileName) { + var dirEnd = ""; + var encodedComment = utils.transformTo("string", encodeFileName(comment)); + + // end of central dir signature + dirEnd = signature.CENTRAL_DIRECTORY_END + + // number of this disk + "\x00\x00" + + // number of the disk with the start of the central directory + "\x00\x00" + + // total number of entries in the central directory on this disk + decToHex(entriesCount, 2) + + // total number of entries in the central directory + decToHex(entriesCount, 2) + + // size of the central directory 4 bytes + decToHex(centralDirLength, 4) + + // offset of start of central directory with respect to the starting disk number + decToHex(localDirLength, 4) + + // .ZIP file comment length + decToHex(encodedComment.length, 2) + + // .ZIP file comment + encodedComment; + + return dirEnd; +}; + +/** + * Generate data descriptors for a file entry. + * @param {Object} streamInfo the hash generated by a worker, containing information + * on the file entry. + * @return {String} the data descriptors. + */ +var generateDataDescriptors = function (streamInfo) { + var descriptor = ""; + descriptor = signature.DATA_DESCRIPTOR + + // crc-32 4 bytes + decToHex(streamInfo['crc32'], 4) + + // compressed size 4 bytes + decToHex(streamInfo['compressedSize'], 4) + + // uncompressed size 4 bytes + decToHex(streamInfo['uncompressedSize'], 4); + + return descriptor; +}; + + +/** + * A worker to concatenate other workers to create a zip file. + * @param {Boolean} streamFiles `true` to stream the content of the files, + * `false` to accumulate it. + * @param {String} comment the comment to use. + * @param {String} platform the platform to use, "UNIX" or "DOS". + * @param {Function} encodeFileName the function to encode file names and comments. + */ +function ZipFileWorker(streamFiles, comment, platform, encodeFileName) { + GenericWorker.call(this, "ZipFileWorker"); + // The number of bytes written so far. This doesn't count accumulated chunks. + this.bytesWritten = 0; + // The comment of the zip file + this.zipComment = comment; + // The platform "generating" the zip file. + this.zipPlatform = platform; + // the function to encode file names and comments. + this.encodeFileName = encodeFileName; + // Should we stream the content of the files ? + this.streamFiles = streamFiles; + // If `streamFiles` is false, we will need to accumulate the content of the + // files to calculate sizes / crc32 (and write them *before* the content). + // This boolean indicates if we are accumulating chunks (it will change a lot + // during the lifetime of this worker). + this.accumulate = false; + // The buffer receiving chunks when accumulating content. + this.contentBuffer = []; + // The list of generated directory records. + this.dirRecords = []; + // The offset (in bytes) from the beginning of the zip file for the current source. + this.currentSourceOffset = 0; + // The total number of entries in this zip file. + this.entriesCount = 0; + // the name of the file currently being added, null when handling the end of the zip file. + // Used for the emitted metadata. + this.currentFile = null; + + + + this._sources = []; +} +utils.inherits(ZipFileWorker, GenericWorker); + +/** + * @see GenericWorker.push + */ +ZipFileWorker.prototype.push = function (chunk) { + + var currentFilePercent = chunk.meta.percent || 0; + var entriesCount = this.entriesCount; + var remainingFiles = this._sources.length; + + if(this.accumulate) { + this.contentBuffer.push(chunk); + } else { + this.bytesWritten += chunk.data.length; + + GenericWorker.prototype.push.call(this, { + data : chunk.data, + meta : { + currentFile : this.currentFile, + percent : entriesCount ? (currentFilePercent + 100 * (entriesCount - remainingFiles - 1)) / entriesCount : 100 + } + }); + } +}; + +/** + * The worker started a new source (an other worker). + * @param {Object} streamInfo the streamInfo object from the new source. + */ +ZipFileWorker.prototype.openedSource = function (streamInfo) { + this.currentSourceOffset = this.bytesWritten; + this.currentFile = streamInfo['file'].name; + + var streamedContent = this.streamFiles && !streamInfo['file'].dir; + + // don't stream folders (because they don't have any content) + if(streamedContent) { + var record = generateZipParts(streamInfo, streamedContent, false, this.currentSourceOffset, this.zipPlatform, this.encodeFileName); + this.push({ + data : record.fileRecord, + meta : {percent:0} + }); + } else { + // we need to wait for the whole file before pushing anything + this.accumulate = true; + } +}; + +/** + * The worker finished a source (an other worker). + * @param {Object} streamInfo the streamInfo object from the finished source. + */ +ZipFileWorker.prototype.closedSource = function (streamInfo) { + this.accumulate = false; + var streamedContent = this.streamFiles && !streamInfo['file'].dir; + var record = generateZipParts(streamInfo, streamedContent, true, this.currentSourceOffset, this.zipPlatform, this.encodeFileName); + + this.dirRecords.push(record.dirRecord); + if(streamedContent) { + // after the streamed file, we put data descriptors + this.push({ + data : generateDataDescriptors(streamInfo), + meta : {percent:100} + }); + } else { + // the content wasn't streamed, we need to push everything now + // first the file record, then the content + this.push({ + data : record.fileRecord, + meta : {percent:0} + }); + while(this.contentBuffer.length) { + this.push(this.contentBuffer.shift()); + } + } + this.currentFile = null; +}; + +/** + * @see GenericWorker.flush + */ +ZipFileWorker.prototype.flush = function () { + + var localDirLength = this.bytesWritten; + for(var i = 0; i < this.dirRecords.length; i++) { + this.push({ + data : this.dirRecords[i], + meta : {percent:100} + }); + } + var centralDirLength = this.bytesWritten - localDirLength; + + var dirEnd = generateCentralDirectoryEnd(this.dirRecords.length, centralDirLength, localDirLength, this.zipComment, this.encodeFileName); + + this.push({ + data : dirEnd, + meta : {percent:100} + }); +}; + +/** + * Prepare the next source to be read. + */ +ZipFileWorker.prototype.prepareNextSource = function () { + this.previous = this._sources.shift(); + this.openedSource(this.previous.streamInfo); + if (this.isPaused) { + this.previous.pause(); + } else { + this.previous.resume(); + } +}; + +/** + * @see GenericWorker.registerPrevious + */ +ZipFileWorker.prototype.registerPrevious = function (previous) { + this._sources.push(previous); + var self = this; + + previous.on('data', function (chunk) { + self.processChunk(chunk); + }); + previous.on('end', function () { + self.closedSource(self.previous.streamInfo); + if(self._sources.length) { + self.prepareNextSource(); + } else { + self.end(); + } + }); + previous.on('error', function (e) { + self.error(e); + }); + return this; +}; + +/** + * @see GenericWorker.resume + */ +ZipFileWorker.prototype.resume = function () { + if(!GenericWorker.prototype.resume.call(this)) { + return false; + } + + if (!this.previous && this._sources.length) { + this.prepareNextSource(); + return true; + } + if (!this.previous && !this._sources.length && !this.generatedError) { + this.end(); + return true; + } +}; + +/** + * @see GenericWorker.error + */ +ZipFileWorker.prototype.error = function (e) { + var sources = this._sources; + if(!GenericWorker.prototype.error.call(this, e)) { + return false; + } + for(var i = 0; i < sources.length; i++) { + try { + sources[i].error(e); + } catch(e) { + // the `error` exploded, nothing to do + } + } + return true; +}; + +/** + * @see GenericWorker.lock + */ +ZipFileWorker.prototype.lock = function () { + GenericWorker.prototype.lock.call(this); + var sources = this._sources; + for(var i = 0; i < sources.length; i++) { + sources[i].lock(); + } +}; + +module.exports = ZipFileWorker; + +},{"../crc32":4,"../signature":23,"../stream/GenericWorker":28,"../utf8":31,"../utils":32}],9:[function(require,module,exports){ +'use strict'; + +var compressions = require('../compressions'); +var ZipFileWorker = require('./ZipFileWorker'); + +/** + * Find the compression to use. + * @param {String} fileCompression the compression defined at the file level, if any. + * @param {String} zipCompression the compression defined at the load() level. + * @return {Object} the compression object to use. + */ +var getCompression = function (fileCompression, zipCompression) { + + var compressionName = fileCompression || zipCompression; + var compression = compressions[compressionName]; + if (!compression) { + throw new Error(compressionName + " is not a valid compression method !"); + } + return compression; +}; + +/** + * Create a worker to generate a zip file. + * @param {JSZip} zip the JSZip instance at the right root level. + * @param {Object} options to generate the zip file. + * @param {String} comment the comment to use. + */ +exports.generateWorker = function (zip, options, comment) { + + var zipFileWorker = new ZipFileWorker(options.streamFiles, comment, options.platform, options.encodeFileName); + var entriesCount = 0; + try { + + zip.forEach(function (relativePath, file) { + entriesCount++; + var compression = getCompression(file.options.compression, options.compression); + var compressionOptions = file.options.compressionOptions || options.compressionOptions || {}; + var dir = file.dir, date = file.date; + + file._compressWorker(compression, compressionOptions) + .withStreamInfo("file", { + name : relativePath, + dir : dir, + date : date, + comment : file.comment || "", + unixPermissions : file.unixPermissions, + dosPermissions : file.dosPermissions + }) + .pipe(zipFileWorker); + }); + zipFileWorker.entriesCount = entriesCount; + } catch (e) { + zipFileWorker.error(e); + } + + return zipFileWorker; +}; + +},{"../compressions":3,"./ZipFileWorker":8}],10:[function(require,module,exports){ +'use strict'; + +/** + * Representation a of zip file in js + * @constructor + */ +function JSZip() { + // if this constructor is used without `new`, it adds `new` before itself: + if(!(this instanceof JSZip)) { + return new JSZip(); + } + + if(arguments.length) { + throw new Error("The constructor with parameters has been removed in JSZip 3.0, please check the upgrade guide."); + } + + // object containing the files : + // { + // "folder/" : {...}, + // "folder/data.txt" : {...} + // } + // NOTE: we use a null prototype because we do not + // want filenames like "toString" coming from a zip file + // to overwrite methods and attributes in a normal Object. + this.files = Object.create(null); + + this.comment = null; + + // Where we are in the hierarchy + this.root = ""; + this.clone = function() { + var newObj = new JSZip(); + for (var i in this) { + if (typeof this[i] !== "function") { + newObj[i] = this[i]; + } + } + return newObj; + }; +} +JSZip.prototype = require('./object'); +JSZip.prototype.loadAsync = require('./load'); +JSZip.support = require('./support'); +JSZip.defaults = require('./defaults'); + +// TODO find a better way to handle this version, +// a require('package.json').version doesn't work with webpack, see #327 +JSZip.version = "3.7.1"; + +JSZip.loadAsync = function (content, options) { + return new JSZip().loadAsync(content, options); +}; + +JSZip.external = require("./external"); +module.exports = JSZip; + +},{"./defaults":5,"./external":6,"./load":11,"./object":15,"./support":30}],11:[function(require,module,exports){ +'use strict'; +var utils = require('./utils'); +var external = require("./external"); +var utf8 = require('./utf8'); +var ZipEntries = require('./zipEntries'); +var Crc32Probe = require('./stream/Crc32Probe'); +var nodejsUtils = require("./nodejsUtils"); + +/** + * Check the CRC32 of an entry. + * @param {ZipEntry} zipEntry the zip entry to check. + * @return {Promise} the result. + */ +function checkEntryCRC32(zipEntry) { + return new external.Promise(function (resolve, reject) { + var worker = zipEntry.decompressed.getContentWorker().pipe(new Crc32Probe()); + worker.on("error", function (e) { + reject(e); + }) + .on("end", function () { + if (worker.streamInfo.crc32 !== zipEntry.decompressed.crc32) { + reject(new Error("Corrupted zip : CRC32 mismatch")); + } else { + resolve(); + } + }) + .resume(); + }); +} + +module.exports = function (data, options) { + var zip = this; + options = utils.extend(options || {}, { + base64: false, + checkCRC32: false, + optimizedBinaryString: false, + createFolders: false, + decodeFileName: utf8.utf8decode + }); + + if (nodejsUtils.isNode && nodejsUtils.isStream(data)) { + return external.Promise.reject(new Error("JSZip can't accept a stream when loading a zip file.")); + } + + return utils.prepareContent("the loaded zip file", data, true, options.optimizedBinaryString, options.base64) + .then(function (data) { + var zipEntries = new ZipEntries(options); + zipEntries.load(data); + return zipEntries; + }).then(function checkCRC32(zipEntries) { + var promises = [external.Promise.resolve(zipEntries)]; + var files = zipEntries.files; + if (options.checkCRC32) { + for (var i = 0; i < files.length; i++) { + promises.push(checkEntryCRC32(files[i])); + } + } + return external.Promise.all(promises); + }).then(function addFiles(results) { + var zipEntries = results.shift(); + var files = zipEntries.files; + for (var i = 0; i < files.length; i++) { + var input = files[i]; + zip.file(input.fileNameStr, input.decompressed, { + binary: true, + optimizedBinaryString: true, + date: input.date, + dir: input.dir, + comment: input.fileCommentStr.length ? input.fileCommentStr : null, + unixPermissions: input.unixPermissions, + dosPermissions: input.dosPermissions, + createFolders: options.createFolders + }); + } + if (zipEntries.zipComment.length) { + zip.comment = zipEntries.zipComment; + } + + return zip; + }); +}; + +},{"./external":6,"./nodejsUtils":14,"./stream/Crc32Probe":25,"./utf8":31,"./utils":32,"./zipEntries":33}],12:[function(require,module,exports){ +"use strict"; + +var utils = require('../utils'); +var GenericWorker = require('../stream/GenericWorker'); + +/** + * A worker that use a nodejs stream as source. + * @constructor + * @param {String} filename the name of the file entry for this stream. + * @param {Readable} stream the nodejs stream. + */ +function NodejsStreamInputAdapter(filename, stream) { + GenericWorker.call(this, "Nodejs stream input adapter for " + filename); + this._upstreamEnded = false; + this._bindStream(stream); +} + +utils.inherits(NodejsStreamInputAdapter, GenericWorker); + +/** + * Prepare the stream and bind the callbacks on it. + * Do this ASAP on node 0.10 ! A lazy binding doesn't always work. + * @param {Stream} stream the nodejs stream to use. + */ +NodejsStreamInputAdapter.prototype._bindStream = function (stream) { + var self = this; + this._stream = stream; + stream.pause(); + stream + .on("data", function (chunk) { + self.push({ + data: chunk, + meta : { + percent : 0 + } + }); + }) + .on("error", function (e) { + if(self.isPaused) { + this.generatedError = e; + } else { + self.error(e); + } + }) + .on("end", function () { + if(self.isPaused) { + self._upstreamEnded = true; + } else { + self.end(); + } + }); +}; +NodejsStreamInputAdapter.prototype.pause = function () { + if(!GenericWorker.prototype.pause.call(this)) { + return false; + } + this._stream.pause(); + return true; +}; +NodejsStreamInputAdapter.prototype.resume = function () { + if(!GenericWorker.prototype.resume.call(this)) { + return false; + } + + if(this._upstreamEnded) { + this.end(); + } else { + this._stream.resume(); + } + + return true; +}; + +module.exports = NodejsStreamInputAdapter; + +},{"../stream/GenericWorker":28,"../utils":32}],13:[function(require,module,exports){ +'use strict'; + +var Readable = require('readable-stream').Readable; + +var utils = require('../utils'); +utils.inherits(NodejsStreamOutputAdapter, Readable); + +/** +* A nodejs stream using a worker as source. +* @see the SourceWrapper in http://nodejs.org/api/stream.html +* @constructor +* @param {StreamHelper} helper the helper wrapping the worker +* @param {Object} options the nodejs stream options +* @param {Function} updateCb the update callback. +*/ +function NodejsStreamOutputAdapter(helper, options, updateCb) { + Readable.call(this, options); + this._helper = helper; + + var self = this; + helper.on("data", function (data, meta) { + if (!self.push(data)) { + self._helper.pause(); + } + if(updateCb) { + updateCb(meta); + } + }) + .on("error", function(e) { + self.emit('error', e); + }) + .on("end", function () { + self.push(null); + }); +} + + +NodejsStreamOutputAdapter.prototype._read = function() { + this._helper.resume(); +}; + +module.exports = NodejsStreamOutputAdapter; + +},{"../utils":32,"readable-stream":16}],14:[function(require,module,exports){ +'use strict'; + +module.exports = { + /** + * True if this is running in Nodejs, will be undefined in a browser. + * In a browser, browserify won't include this file and the whole module + * will be resolved an empty object. + */ + isNode : typeof Buffer !== "undefined", + /** + * Create a new nodejs Buffer from an existing content. + * @param {Object} data the data to pass to the constructor. + * @param {String} encoding the encoding to use. + * @return {Buffer} a new Buffer. + */ + newBufferFrom: function(data, encoding) { + if (Buffer.from && Buffer.from !== Uint8Array.from) { + return Buffer.from(data, encoding); + } else { + if (typeof data === "number") { + // Safeguard for old Node.js versions. On newer versions, + // Buffer.from(number) / Buffer(number, encoding) already throw. + throw new Error("The \"data\" argument must not be a number"); + } + return new Buffer(data, encoding); + } + }, + /** + * Create a new nodejs Buffer with the specified size. + * @param {Integer} size the size of the buffer. + * @return {Buffer} a new Buffer. + */ + allocBuffer: function (size) { + if (Buffer.alloc) { + return Buffer.alloc(size); + } else { + var buf = new Buffer(size); + buf.fill(0); + return buf; + } + }, + /** + * Find out if an object is a Buffer. + * @param {Object} b the object to test. + * @return {Boolean} true if the object is a Buffer, false otherwise. + */ + isBuffer : function(b){ + return Buffer.isBuffer(b); + }, + + isStream : function (obj) { + return obj && + typeof obj.on === "function" && + typeof obj.pause === "function" && + typeof obj.resume === "function"; + } +}; + +},{}],15:[function(require,module,exports){ +'use strict'; +var utf8 = require('./utf8'); +var utils = require('./utils'); +var GenericWorker = require('./stream/GenericWorker'); +var StreamHelper = require('./stream/StreamHelper'); +var defaults = require('./defaults'); +var CompressedObject = require('./compressedObject'); +var ZipObject = require('./zipObject'); +var generate = require("./generate"); +var nodejsUtils = require("./nodejsUtils"); +var NodejsStreamInputAdapter = require("./nodejs/NodejsStreamInputAdapter"); + + +/** + * Add a file in the current folder. + * @private + * @param {string} name the name of the file + * @param {String|ArrayBuffer|Uint8Array|Buffer} data the data of the file + * @param {Object} originalOptions the options of the file + * @return {Object} the new file. + */ +var fileAdd = function(name, data, originalOptions) { + // be sure sub folders exist + var dataType = utils.getTypeOf(data), + parent; + + + /* + * Correct options. + */ + + var o = utils.extend(originalOptions || {}, defaults); + o.date = o.date || new Date(); + if (o.compression !== null) { + o.compression = o.compression.toUpperCase(); + } + + if (typeof o.unixPermissions === "string") { + o.unixPermissions = parseInt(o.unixPermissions, 8); + } + + // UNX_IFDIR 0040000 see zipinfo.c + if (o.unixPermissions && (o.unixPermissions & 0x4000)) { + o.dir = true; + } + // Bit 4 Directory + if (o.dosPermissions && (o.dosPermissions & 0x0010)) { + o.dir = true; + } + + if (o.dir) { + name = forceTrailingSlash(name); + } + if (o.createFolders && (parent = parentFolder(name))) { + folderAdd.call(this, parent, true); + } + + var isUnicodeString = dataType === "string" && o.binary === false && o.base64 === false; + if (!originalOptions || typeof originalOptions.binary === "undefined") { + o.binary = !isUnicodeString; + } + + + var isCompressedEmpty = (data instanceof CompressedObject) && data.uncompressedSize === 0; + + if (isCompressedEmpty || o.dir || !data || data.length === 0) { + o.base64 = false; + o.binary = true; + data = ""; + o.compression = "STORE"; + dataType = "string"; + } + + /* + * Convert content to fit. + */ + + var zipObjectContent = null; + if (data instanceof CompressedObject || data instanceof GenericWorker) { + zipObjectContent = data; + } else if (nodejsUtils.isNode && nodejsUtils.isStream(data)) { + zipObjectContent = new NodejsStreamInputAdapter(name, data); + } else { + zipObjectContent = utils.prepareContent(name, data, o.binary, o.optimizedBinaryString, o.base64); + } + + var object = new ZipObject(name, zipObjectContent, o); + this.files[name] = object; + /* + TODO: we can't throw an exception because we have async promises + (we can have a promise of a Date() for example) but returning a + promise is useless because file(name, data) returns the JSZip + object for chaining. Should we break that to allow the user + to catch the error ? + + return external.Promise.resolve(zipObjectContent) + .then(function () { + return object; + }); + */ +}; + +/** + * Find the parent folder of the path. + * @private + * @param {string} path the path to use + * @return {string} the parent folder, or "" + */ +var parentFolder = function (path) { + if (path.slice(-1) === '/') { + path = path.substring(0, path.length - 1); + } + var lastSlash = path.lastIndexOf('/'); + return (lastSlash > 0) ? path.substring(0, lastSlash) : ""; +}; + +/** + * Returns the path with a slash at the end. + * @private + * @param {String} path the path to check. + * @return {String} the path with a trailing slash. + */ +var forceTrailingSlash = function(path) { + // Check the name ends with a / + if (path.slice(-1) !== "/") { + path += "/"; // IE doesn't like substr(-1) + } + return path; +}; + +/** + * Add a (sub) folder in the current folder. + * @private + * @param {string} name the folder's name + * @param {boolean=} [createFolders] If true, automatically create sub + * folders. Defaults to false. + * @return {Object} the new folder. + */ +var folderAdd = function(name, createFolders) { + createFolders = (typeof createFolders !== 'undefined') ? createFolders : defaults.createFolders; + + name = forceTrailingSlash(name); + + // Does this folder already exist? + if (!this.files[name]) { + fileAdd.call(this, name, null, { + dir: true, + createFolders: createFolders + }); + } + return this.files[name]; +}; + +/** +* Cross-window, cross-Node-context regular expression detection +* @param {Object} object Anything +* @return {Boolean} true if the object is a regular expression, +* false otherwise +*/ +function isRegExp(object) { + return Object.prototype.toString.call(object) === "[object RegExp]"; +} + +// return the actual prototype of JSZip +var out = { + /** + * @see loadAsync + */ + load: function() { + throw new Error("This method has been removed in JSZip 3.0, please check the upgrade guide."); + }, + + + /** + * Call a callback function for each entry at this folder level. + * @param {Function} cb the callback function: + * function (relativePath, file) {...} + * It takes 2 arguments : the relative path and the file. + */ + forEach: function(cb) { + var filename, relativePath, file; + /* jshint ignore:start */ + // ignore warning about unwanted properties because this.files is a null prototype object + for (filename in this.files) { + file = this.files[filename]; + relativePath = filename.slice(this.root.length, filename.length); + if (relativePath && filename.slice(0, this.root.length) === this.root) { // the file is in the current root + cb(relativePath, file); // TODO reverse the parameters ? need to be clean AND consistent with the filter search fn... + } + } + /* jshint ignore:end */ + }, + + /** + * Filter nested files/folders with the specified function. + * @param {Function} search the predicate to use : + * function (relativePath, file) {...} + * It takes 2 arguments : the relative path and the file. + * @return {Array} An array of matching elements. + */ + filter: function(search) { + var result = []; + this.forEach(function (relativePath, entry) { + if (search(relativePath, entry)) { // the file matches the function + result.push(entry); + } + + }); + return result; + }, + + /** + * Add a file to the zip file, or search a file. + * @param {string|RegExp} name The name of the file to add (if data is defined), + * the name of the file to find (if no data) or a regex to match files. + * @param {String|ArrayBuffer|Uint8Array|Buffer} data The file data, either raw or base64 encoded + * @param {Object} o File options + * @return {JSZip|Object|Array} this JSZip object (when adding a file), + * a file (when searching by string) or an array of files (when searching by regex). + */ + file: function(name, data, o) { + if (arguments.length === 1) { + if (isRegExp(name)) { + var regexp = name; + return this.filter(function(relativePath, file) { + return !file.dir && regexp.test(relativePath); + }); + } + else { // text + var obj = this.files[this.root + name]; + if (obj && !obj.dir) { + return obj; + } else { + return null; + } + } + } + else { // more than one argument : we have data ! + name = this.root + name; + fileAdd.call(this, name, data, o); + } + return this; + }, + + /** + * Add a directory to the zip file, or search. + * @param {String|RegExp} arg The name of the directory to add, or a regex to search folders. + * @return {JSZip} an object with the new directory as the root, or an array containing matching folders. + */ + folder: function(arg) { + if (!arg) { + return this; + } + + if (isRegExp(arg)) { + return this.filter(function(relativePath, file) { + return file.dir && arg.test(relativePath); + }); + } + + // else, name is a new folder + var name = this.root + arg; + var newFolder = folderAdd.call(this, name); + + // Allow chaining by returning a new object with this folder as the root + var ret = this.clone(); + ret.root = newFolder.name; + return ret; + }, + + /** + * Delete a file, or a directory and all sub-files, from the zip + * @param {string} name the name of the file to delete + * @return {JSZip} this JSZip object + */ + remove: function(name) { + name = this.root + name; + var file = this.files[name]; + if (!file) { + // Look for any folders + if (name.slice(-1) !== "/") { + name += "/"; + } + file = this.files[name]; + } + + if (file && !file.dir) { + // file + delete this.files[name]; + } else { + // maybe a folder, delete recursively + var kids = this.filter(function(relativePath, file) { + return file.name.slice(0, name.length) === name; + }); + for (var i = 0; i < kids.length; i++) { + delete this.files[kids[i].name]; + } + } + + return this; + }, + + /** + * Generate the complete zip file + * @param {Object} options the options to generate the zip file : + * - compression, "STORE" by default. + * - type, "base64" by default. Values are : string, base64, uint8array, arraybuffer, blob. + * @return {String|Uint8Array|ArrayBuffer|Buffer|Blob} the zip file + */ + generate: function(options) { + throw new Error("This method has been removed in JSZip 3.0, please check the upgrade guide."); + }, + + /** + * Generate the complete zip file as an internal stream. + * @param {Object} options the options to generate the zip file : + * - compression, "STORE" by default. + * - type, "base64" by default. Values are : string, base64, uint8array, arraybuffer, blob. + * @return {StreamHelper} the streamed zip file. + */ + generateInternalStream: function(options) { + var worker, opts = {}; + try { + opts = utils.extend(options || {}, { + streamFiles: false, + compression: "STORE", + compressionOptions : null, + type: "", + platform: "DOS", + comment: null, + mimeType: 'application/zip', + encodeFileName: utf8.utf8encode + }); + + opts.type = opts.type.toLowerCase(); + opts.compression = opts.compression.toUpperCase(); + + // "binarystring" is preferred but the internals use "string". + if(opts.type === "binarystring") { + opts.type = "string"; + } + + if (!opts.type) { + throw new Error("No output type specified."); + } + + utils.checkSupport(opts.type); + + // accept nodejs `process.platform` + if( + opts.platform === 'darwin' || + opts.platform === 'freebsd' || + opts.platform === 'linux' || + opts.platform === 'sunos' + ) { + opts.platform = "UNIX"; + } + if (opts.platform === 'win32') { + opts.platform = "DOS"; + } + + var comment = opts.comment || this.comment || ""; + worker = generate.generateWorker(this, opts, comment); + } catch (e) { + worker = new GenericWorker("error"); + worker.error(e); + } + return new StreamHelper(worker, opts.type || "string", opts.mimeType); + }, + /** + * Generate the complete zip file asynchronously. + * @see generateInternalStream + */ + generateAsync: function(options, onUpdate) { + return this.generateInternalStream(options).accumulate(onUpdate); + }, + /** + * Generate the complete zip file asynchronously. + * @see generateInternalStream + */ + generateNodeStream: function(options, onUpdate) { + options = options || {}; + if (!options.type) { + options.type = "nodebuffer"; + } + return this.generateInternalStream(options).toNodejsStream(onUpdate); + } +}; +module.exports = out; + +},{"./compressedObject":2,"./defaults":5,"./generate":9,"./nodejs/NodejsStreamInputAdapter":12,"./nodejsUtils":14,"./stream/GenericWorker":28,"./stream/StreamHelper":29,"./utf8":31,"./utils":32,"./zipObject":35}],16:[function(require,module,exports){ +/* + * This file is used by module bundlers (browserify/webpack/etc) when + * including a stream implementation. We use "readable-stream" to get a + * consistent behavior between nodejs versions but bundlers often have a shim + * for "stream". Using this shim greatly improve the compatibility and greatly + * reduce the final size of the bundle (only one stream implementation, not + * two). + */ +module.exports = require("stream"); + +},{"stream":undefined}],17:[function(require,module,exports){ +'use strict'; +var DataReader = require('./DataReader'); +var utils = require('../utils'); + +function ArrayReader(data) { + DataReader.call(this, data); + for(var i = 0; i < this.data.length; i++) { + data[i] = data[i] & 0xFF; + } +} +utils.inherits(ArrayReader, DataReader); +/** + * @see DataReader.byteAt + */ +ArrayReader.prototype.byteAt = function(i) { + return this.data[this.zero + i]; +}; +/** + * @see DataReader.lastIndexOfSignature + */ +ArrayReader.prototype.lastIndexOfSignature = function(sig) { + var sig0 = sig.charCodeAt(0), + sig1 = sig.charCodeAt(1), + sig2 = sig.charCodeAt(2), + sig3 = sig.charCodeAt(3); + for (var i = this.length - 4; i >= 0; --i) { + if (this.data[i] === sig0 && this.data[i + 1] === sig1 && this.data[i + 2] === sig2 && this.data[i + 3] === sig3) { + return i - this.zero; + } + } + + return -1; +}; +/** + * @see DataReader.readAndCheckSignature + */ +ArrayReader.prototype.readAndCheckSignature = function (sig) { + var sig0 = sig.charCodeAt(0), + sig1 = sig.charCodeAt(1), + sig2 = sig.charCodeAt(2), + sig3 = sig.charCodeAt(3), + data = this.readData(4); + return sig0 === data[0] && sig1 === data[1] && sig2 === data[2] && sig3 === data[3]; +}; +/** + * @see DataReader.readData + */ +ArrayReader.prototype.readData = function(size) { + this.checkOffset(size); + if(size === 0) { + return []; + } + var result = this.data.slice(this.zero + this.index, this.zero + this.index + size); + this.index += size; + return result; +}; +module.exports = ArrayReader; + +},{"../utils":32,"./DataReader":18}],18:[function(require,module,exports){ +'use strict'; +var utils = require('../utils'); + +function DataReader(data) { + this.data = data; // type : see implementation + this.length = data.length; + this.index = 0; + this.zero = 0; +} +DataReader.prototype = { + /** + * Check that the offset will not go too far. + * @param {string} offset the additional offset to check. + * @throws {Error} an Error if the offset is out of bounds. + */ + checkOffset: function(offset) { + this.checkIndex(this.index + offset); + }, + /** + * Check that the specified index will not be too far. + * @param {string} newIndex the index to check. + * @throws {Error} an Error if the index is out of bounds. + */ + checkIndex: function(newIndex) { + if (this.length < this.zero + newIndex || newIndex < 0) { + throw new Error("End of data reached (data length = " + this.length + ", asked index = " + (newIndex) + "). Corrupted zip ?"); + } + }, + /** + * Change the index. + * @param {number} newIndex The new index. + * @throws {Error} if the new index is out of the data. + */ + setIndex: function(newIndex) { + this.checkIndex(newIndex); + this.index = newIndex; + }, + /** + * Skip the next n bytes. + * @param {number} n the number of bytes to skip. + * @throws {Error} if the new index is out of the data. + */ + skip: function(n) { + this.setIndex(this.index + n); + }, + /** + * Get the byte at the specified index. + * @param {number} i the index to use. + * @return {number} a byte. + */ + byteAt: function(i) { + // see implementations + }, + /** + * Get the next number with a given byte size. + * @param {number} size the number of bytes to read. + * @return {number} the corresponding number. + */ + readInt: function(size) { + var result = 0, + i; + this.checkOffset(size); + for (i = this.index + size - 1; i >= this.index; i--) { + result = (result << 8) + this.byteAt(i); + } + this.index += size; + return result; + }, + /** + * Get the next string with a given byte size. + * @param {number} size the number of bytes to read. + * @return {string} the corresponding string. + */ + readString: function(size) { + return utils.transformTo("string", this.readData(size)); + }, + /** + * Get raw data without conversion, bytes. + * @param {number} size the number of bytes to read. + * @return {Object} the raw data, implementation specific. + */ + readData: function(size) { + // see implementations + }, + /** + * Find the last occurrence of a zip signature (4 bytes). + * @param {string} sig the signature to find. + * @return {number} the index of the last occurrence, -1 if not found. + */ + lastIndexOfSignature: function(sig) { + // see implementations + }, + /** + * Read the signature (4 bytes) at the current position and compare it with sig. + * @param {string} sig the expected signature + * @return {boolean} true if the signature matches, false otherwise. + */ + readAndCheckSignature: function(sig) { + // see implementations + }, + /** + * Get the next date. + * @return {Date} the date. + */ + readDate: function() { + var dostime = this.readInt(4); + return new Date(Date.UTC( + ((dostime >> 25) & 0x7f) + 1980, // year + ((dostime >> 21) & 0x0f) - 1, // month + (dostime >> 16) & 0x1f, // day + (dostime >> 11) & 0x1f, // hour + (dostime >> 5) & 0x3f, // minute + (dostime & 0x1f) << 1)); // second + } +}; +module.exports = DataReader; + +},{"../utils":32}],19:[function(require,module,exports){ +'use strict'; +var Uint8ArrayReader = require('./Uint8ArrayReader'); +var utils = require('../utils'); + +function NodeBufferReader(data) { + Uint8ArrayReader.call(this, data); +} +utils.inherits(NodeBufferReader, Uint8ArrayReader); + +/** + * @see DataReader.readData + */ +NodeBufferReader.prototype.readData = function(size) { + this.checkOffset(size); + var result = this.data.slice(this.zero + this.index, this.zero + this.index + size); + this.index += size; + return result; +}; +module.exports = NodeBufferReader; + +},{"../utils":32,"./Uint8ArrayReader":21}],20:[function(require,module,exports){ +'use strict'; +var DataReader = require('./DataReader'); +var utils = require('../utils'); + +function StringReader(data) { + DataReader.call(this, data); +} +utils.inherits(StringReader, DataReader); +/** + * @see DataReader.byteAt + */ +StringReader.prototype.byteAt = function(i) { + return this.data.charCodeAt(this.zero + i); +}; +/** + * @see DataReader.lastIndexOfSignature + */ +StringReader.prototype.lastIndexOfSignature = function(sig) { + return this.data.lastIndexOf(sig) - this.zero; +}; +/** + * @see DataReader.readAndCheckSignature + */ +StringReader.prototype.readAndCheckSignature = function (sig) { + var data = this.readData(4); + return sig === data; +}; +/** + * @see DataReader.readData + */ +StringReader.prototype.readData = function(size) { + this.checkOffset(size); + // this will work because the constructor applied the "& 0xff" mask. + var result = this.data.slice(this.zero + this.index, this.zero + this.index + size); + this.index += size; + return result; +}; +module.exports = StringReader; + +},{"../utils":32,"./DataReader":18}],21:[function(require,module,exports){ +'use strict'; +var ArrayReader = require('./ArrayReader'); +var utils = require('../utils'); + +function Uint8ArrayReader(data) { + ArrayReader.call(this, data); +} +utils.inherits(Uint8ArrayReader, ArrayReader); +/** + * @see DataReader.readData + */ +Uint8ArrayReader.prototype.readData = function(size) { + this.checkOffset(size); + if(size === 0) { + // in IE10, when using subarray(idx, idx), we get the array [0x00] instead of []. + return new Uint8Array(0); + } + var result = this.data.subarray(this.zero + this.index, this.zero + this.index + size); + this.index += size; + return result; +}; +module.exports = Uint8ArrayReader; + +},{"../utils":32,"./ArrayReader":17}],22:[function(require,module,exports){ +'use strict'; + +var utils = require('../utils'); +var support = require('../support'); +var ArrayReader = require('./ArrayReader'); +var StringReader = require('./StringReader'); +var NodeBufferReader = require('./NodeBufferReader'); +var Uint8ArrayReader = require('./Uint8ArrayReader'); + +/** + * Create a reader adapted to the data. + * @param {String|ArrayBuffer|Uint8Array|Buffer} data the data to read. + * @return {DataReader} the data reader. + */ +module.exports = function (data) { + var type = utils.getTypeOf(data); + utils.checkSupport(type); + if (type === "string" && !support.uint8array) { + return new StringReader(data); + } + if (type === "nodebuffer") { + return new NodeBufferReader(data); + } + if (support.uint8array) { + return new Uint8ArrayReader(utils.transformTo("uint8array", data)); + } + return new ArrayReader(utils.transformTo("array", data)); +}; + +},{"../support":30,"../utils":32,"./ArrayReader":17,"./NodeBufferReader":19,"./StringReader":20,"./Uint8ArrayReader":21}],23:[function(require,module,exports){ +'use strict'; +exports.LOCAL_FILE_HEADER = "PK\x03\x04"; +exports.CENTRAL_FILE_HEADER = "PK\x01\x02"; +exports.CENTRAL_DIRECTORY_END = "PK\x05\x06"; +exports.ZIP64_CENTRAL_DIRECTORY_LOCATOR = "PK\x06\x07"; +exports.ZIP64_CENTRAL_DIRECTORY_END = "PK\x06\x06"; +exports.DATA_DESCRIPTOR = "PK\x07\x08"; + +},{}],24:[function(require,module,exports){ +'use strict'; + +var GenericWorker = require('./GenericWorker'); +var utils = require('../utils'); + +/** + * A worker which convert chunks to a specified type. + * @constructor + * @param {String} destType the destination type. + */ +function ConvertWorker(destType) { + GenericWorker.call(this, "ConvertWorker to " + destType); + this.destType = destType; +} +utils.inherits(ConvertWorker, GenericWorker); + +/** + * @see GenericWorker.processChunk + */ +ConvertWorker.prototype.processChunk = function (chunk) { + this.push({ + data : utils.transformTo(this.destType, chunk.data), + meta : chunk.meta + }); +}; +module.exports = ConvertWorker; + +},{"../utils":32,"./GenericWorker":28}],25:[function(require,module,exports){ +'use strict'; + +var GenericWorker = require('./GenericWorker'); +var crc32 = require('../crc32'); +var utils = require('../utils'); + +/** + * A worker which calculate the crc32 of the data flowing through. + * @constructor + */ +function Crc32Probe() { + GenericWorker.call(this, "Crc32Probe"); + this.withStreamInfo("crc32", 0); +} +utils.inherits(Crc32Probe, GenericWorker); + +/** + * @see GenericWorker.processChunk + */ +Crc32Probe.prototype.processChunk = function (chunk) { + this.streamInfo.crc32 = crc32(chunk.data, this.streamInfo.crc32 || 0); + this.push(chunk); +}; +module.exports = Crc32Probe; + +},{"../crc32":4,"../utils":32,"./GenericWorker":28}],26:[function(require,module,exports){ +'use strict'; + +var utils = require('../utils'); +var GenericWorker = require('./GenericWorker'); + +/** + * A worker which calculate the total length of the data flowing through. + * @constructor + * @param {String} propName the name used to expose the length + */ +function DataLengthProbe(propName) { + GenericWorker.call(this, "DataLengthProbe for " + propName); + this.propName = propName; + this.withStreamInfo(propName, 0); +} +utils.inherits(DataLengthProbe, GenericWorker); + +/** + * @see GenericWorker.processChunk + */ +DataLengthProbe.prototype.processChunk = function (chunk) { + if(chunk) { + var length = this.streamInfo[this.propName] || 0; + this.streamInfo[this.propName] = length + chunk.data.length; + } + GenericWorker.prototype.processChunk.call(this, chunk); +}; +module.exports = DataLengthProbe; + + +},{"../utils":32,"./GenericWorker":28}],27:[function(require,module,exports){ +'use strict'; + +var utils = require('../utils'); +var GenericWorker = require('./GenericWorker'); + +// the size of the generated chunks +// TODO expose this as a public variable +var DEFAULT_BLOCK_SIZE = 16 * 1024; + +/** + * A worker that reads a content and emits chunks. + * @constructor + * @param {Promise} dataP the promise of the data to split + */ +function DataWorker(dataP) { + GenericWorker.call(this, "DataWorker"); + var self = this; + this.dataIsReady = false; + this.index = 0; + this.max = 0; + this.data = null; + this.type = ""; + + this._tickScheduled = false; + + dataP.then(function (data) { + self.dataIsReady = true; + self.data = data; + self.max = data && data.length || 0; + self.type = utils.getTypeOf(data); + if(!self.isPaused) { + self._tickAndRepeat(); + } + }, function (e) { + self.error(e); + }); +} + +utils.inherits(DataWorker, GenericWorker); + +/** + * @see GenericWorker.cleanUp + */ +DataWorker.prototype.cleanUp = function () { + GenericWorker.prototype.cleanUp.call(this); + this.data = null; +}; + +/** + * @see GenericWorker.resume + */ +DataWorker.prototype.resume = function () { + if(!GenericWorker.prototype.resume.call(this)) { + return false; + } + + if (!this._tickScheduled && this.dataIsReady) { + this._tickScheduled = true; + utils.delay(this._tickAndRepeat, [], this); + } + return true; +}; + +/** + * Trigger a tick a schedule an other call to this function. + */ +DataWorker.prototype._tickAndRepeat = function() { + this._tickScheduled = false; + if(this.isPaused || this.isFinished) { + return; + } + this._tick(); + if(!this.isFinished) { + utils.delay(this._tickAndRepeat, [], this); + this._tickScheduled = true; + } +}; + +/** + * Read and push a chunk. + */ +DataWorker.prototype._tick = function() { + + if(this.isPaused || this.isFinished) { + return false; + } + + var size = DEFAULT_BLOCK_SIZE; + var data = null, nextIndex = Math.min(this.max, this.index + size); + if (this.index >= this.max) { + // EOF + return this.end(); + } else { + switch(this.type) { + case "string": + data = this.data.substring(this.index, nextIndex); + break; + case "uint8array": + data = this.data.subarray(this.index, nextIndex); + break; + case "array": + case "nodebuffer": + data = this.data.slice(this.index, nextIndex); + break; + } + this.index = nextIndex; + return this.push({ + data : data, + meta : { + percent : this.max ? this.index / this.max * 100 : 0 + } + }); + } +}; + +module.exports = DataWorker; + +},{"../utils":32,"./GenericWorker":28}],28:[function(require,module,exports){ +'use strict'; + +/** + * A worker that does nothing but passing chunks to the next one. This is like + * a nodejs stream but with some differences. On the good side : + * - it works on IE 6-9 without any issue / polyfill + * - it weights less than the full dependencies bundled with browserify + * - it forwards errors (no need to declare an error handler EVERYWHERE) + * + * A chunk is an object with 2 attributes : `meta` and `data`. The former is an + * object containing anything (`percent` for example), see each worker for more + * details. The latter is the real data (String, Uint8Array, etc). + * + * @constructor + * @param {String} name the name of the stream (mainly used for debugging purposes) + */ +function GenericWorker(name) { + // the name of the worker + this.name = name || "default"; + // an object containing metadata about the workers chain + this.streamInfo = {}; + // an error which happened when the worker was paused + this.generatedError = null; + // an object containing metadata to be merged by this worker into the general metadata + this.extraStreamInfo = {}; + // true if the stream is paused (and should not do anything), false otherwise + this.isPaused = true; + // true if the stream is finished (and should not do anything), false otherwise + this.isFinished = false; + // true if the stream is locked to prevent further structure updates (pipe), false otherwise + this.isLocked = false; + // the event listeners + this._listeners = { + 'data':[], + 'end':[], + 'error':[] + }; + // the previous worker, if any + this.previous = null; +} + +GenericWorker.prototype = { + /** + * Push a chunk to the next workers. + * @param {Object} chunk the chunk to push + */ + push : function (chunk) { + this.emit("data", chunk); + }, + /** + * End the stream. + * @return {Boolean} true if this call ended the worker, false otherwise. + */ + end : function () { + if (this.isFinished) { + return false; + } + + this.flush(); + try { + this.emit("end"); + this.cleanUp(); + this.isFinished = true; + } catch (e) { + this.emit("error", e); + } + return true; + }, + /** + * End the stream with an error. + * @param {Error} e the error which caused the premature end. + * @return {Boolean} true if this call ended the worker with an error, false otherwise. + */ + error : function (e) { + if (this.isFinished) { + return false; + } + + if(this.isPaused) { + this.generatedError = e; + } else { + this.isFinished = true; + + this.emit("error", e); + + // in the workers chain exploded in the middle of the chain, + // the error event will go downward but we also need to notify + // workers upward that there has been an error. + if(this.previous) { + this.previous.error(e); + } + + this.cleanUp(); + } + return true; + }, + /** + * Add a callback on an event. + * @param {String} name the name of the event (data, end, error) + * @param {Function} listener the function to call when the event is triggered + * @return {GenericWorker} the current object for chainability + */ + on : function (name, listener) { + this._listeners[name].push(listener); + return this; + }, + /** + * Clean any references when a worker is ending. + */ + cleanUp : function () { + this.streamInfo = this.generatedError = this.extraStreamInfo = null; + this._listeners = []; + }, + /** + * Trigger an event. This will call registered callback with the provided arg. + * @param {String} name the name of the event (data, end, error) + * @param {Object} arg the argument to call the callback with. + */ + emit : function (name, arg) { + if (this._listeners[name]) { + for(var i = 0; i < this._listeners[name].length; i++) { + this._listeners[name][i].call(this, arg); + } + } + }, + /** + * Chain a worker with an other. + * @param {Worker} next the worker receiving events from the current one. + * @return {worker} the next worker for chainability + */ + pipe : function (next) { + return next.registerPrevious(this); + }, + /** + * Same as `pipe` in the other direction. + * Using an API with `pipe(next)` is very easy. + * Implementing the API with the point of view of the next one registering + * a source is easier, see the ZipFileWorker. + * @param {Worker} previous the previous worker, sending events to this one + * @return {Worker} the current worker for chainability + */ + registerPrevious : function (previous) { + if (this.isLocked) { + throw new Error("The stream '" + this + "' has already been used."); + } + + // sharing the streamInfo... + this.streamInfo = previous.streamInfo; + // ... and adding our own bits + this.mergeStreamInfo(); + this.previous = previous; + var self = this; + previous.on('data', function (chunk) { + self.processChunk(chunk); + }); + previous.on('end', function () { + self.end(); + }); + previous.on('error', function (e) { + self.error(e); + }); + return this; + }, + /** + * Pause the stream so it doesn't send events anymore. + * @return {Boolean} true if this call paused the worker, false otherwise. + */ + pause : function () { + if(this.isPaused || this.isFinished) { + return false; + } + this.isPaused = true; + + if(this.previous) { + this.previous.pause(); + } + return true; + }, + /** + * Resume a paused stream. + * @return {Boolean} true if this call resumed the worker, false otherwise. + */ + resume : function () { + if(!this.isPaused || this.isFinished) { + return false; + } + this.isPaused = false; + + // if true, the worker tried to resume but failed + var withError = false; + if(this.generatedError) { + this.error(this.generatedError); + withError = true; + } + if(this.previous) { + this.previous.resume(); + } + + return !withError; + }, + /** + * Flush any remaining bytes as the stream is ending. + */ + flush : function () {}, + /** + * Process a chunk. This is usually the method overridden. + * @param {Object} chunk the chunk to process. + */ + processChunk : function(chunk) { + this.push(chunk); + }, + /** + * Add a key/value to be added in the workers chain streamInfo once activated. + * @param {String} key the key to use + * @param {Object} value the associated value + * @return {Worker} the current worker for chainability + */ + withStreamInfo : function (key, value) { + this.extraStreamInfo[key] = value; + this.mergeStreamInfo(); + return this; + }, + /** + * Merge this worker's streamInfo into the chain's streamInfo. + */ + mergeStreamInfo : function () { + for(var key in this.extraStreamInfo) { + if (!this.extraStreamInfo.hasOwnProperty(key)) { + continue; + } + this.streamInfo[key] = this.extraStreamInfo[key]; + } + }, + + /** + * Lock the stream to prevent further updates on the workers chain. + * After calling this method, all calls to pipe will fail. + */ + lock: function () { + if (this.isLocked) { + throw new Error("The stream '" + this + "' has already been used."); + } + this.isLocked = true; + if (this.previous) { + this.previous.lock(); + } + }, + + /** + * + * Pretty print the workers chain. + */ + toString : function () { + var me = "Worker " + this.name; + if (this.previous) { + return this.previous + " -> " + me; + } else { + return me; + } + } +}; + +module.exports = GenericWorker; + +},{}],29:[function(require,module,exports){ +'use strict'; + +var utils = require('../utils'); +var ConvertWorker = require('./ConvertWorker'); +var GenericWorker = require('./GenericWorker'); +var base64 = require('../base64'); +var support = require("../support"); +var external = require("../external"); + +var NodejsStreamOutputAdapter = null; +if (support.nodestream) { + try { + NodejsStreamOutputAdapter = require('../nodejs/NodejsStreamOutputAdapter'); + } catch(e) {} +} + +/** + * Apply the final transformation of the data. If the user wants a Blob for + * example, it's easier to work with an U8intArray and finally do the + * ArrayBuffer/Blob conversion. + * @param {String} type the name of the final type + * @param {String|Uint8Array|Buffer} content the content to transform + * @param {String} mimeType the mime type of the content, if applicable. + * @return {String|Uint8Array|ArrayBuffer|Buffer|Blob} the content in the right format. + */ +function transformZipOutput(type, content, mimeType) { + switch(type) { + case "blob" : + return utils.newBlob(utils.transformTo("arraybuffer", content), mimeType); + case "base64" : + return base64.encode(content); + default : + return utils.transformTo(type, content); + } +} + +/** + * Concatenate an array of data of the given type. + * @param {String} type the type of the data in the given array. + * @param {Array} dataArray the array containing the data chunks to concatenate + * @return {String|Uint8Array|Buffer} the concatenated data + * @throws Error if the asked type is unsupported + */ +function concat (type, dataArray) { + var i, index = 0, res = null, totalLength = 0; + for(i = 0; i < dataArray.length; i++) { + totalLength += dataArray[i].length; + } + switch(type) { + case "string": + return dataArray.join(""); + case "array": + return Array.prototype.concat.apply([], dataArray); + case "uint8array": + res = new Uint8Array(totalLength); + for(i = 0; i < dataArray.length; i++) { + res.set(dataArray[i], index); + index += dataArray[i].length; + } + return res; + case "nodebuffer": + return Buffer.concat(dataArray); + default: + throw new Error("concat : unsupported type '" + type + "'"); + } +} + +/** + * Listen a StreamHelper, accumulate its content and concatenate it into a + * complete block. + * @param {StreamHelper} helper the helper to use. + * @param {Function} updateCallback a callback called on each update. Called + * with one arg : + * - the metadata linked to the update received. + * @return Promise the promise for the accumulation. + */ +function accumulate(helper, updateCallback) { + return new external.Promise(function (resolve, reject){ + var dataArray = []; + var chunkType = helper._internalType, + resultType = helper._outputType, + mimeType = helper._mimeType; + helper + .on('data', function (data, meta) { + dataArray.push(data); + if(updateCallback) { + updateCallback(meta); + } + }) + .on('error', function(err) { + dataArray = []; + reject(err); + }) + .on('end', function (){ + try { + var result = transformZipOutput(resultType, concat(chunkType, dataArray), mimeType); + resolve(result); + } catch (e) { + reject(e); + } + dataArray = []; + }) + .resume(); + }); +} + +/** + * An helper to easily use workers outside of JSZip. + * @constructor + * @param {Worker} worker the worker to wrap + * @param {String} outputType the type of data expected by the use + * @param {String} mimeType the mime type of the content, if applicable. + */ +function StreamHelper(worker, outputType, mimeType) { + var internalType = outputType; + switch(outputType) { + case "blob": + case "arraybuffer": + internalType = "uint8array"; + break; + case "base64": + internalType = "string"; + break; + } + + try { + // the type used internally + this._internalType = internalType; + // the type used to output results + this._outputType = outputType; + // the mime type + this._mimeType = mimeType; + utils.checkSupport(internalType); + this._worker = worker.pipe(new ConvertWorker(internalType)); + // the last workers can be rewired without issues but we need to + // prevent any updates on previous workers. + worker.lock(); + } catch(e) { + this._worker = new GenericWorker("error"); + this._worker.error(e); + } +} + +StreamHelper.prototype = { + /** + * Listen a StreamHelper, accumulate its content and concatenate it into a + * complete block. + * @param {Function} updateCb the update callback. + * @return Promise the promise for the accumulation. + */ + accumulate : function (updateCb) { + return accumulate(this, updateCb); + }, + /** + * Add a listener on an event triggered on a stream. + * @param {String} evt the name of the event + * @param {Function} fn the listener + * @return {StreamHelper} the current helper. + */ + on : function (evt, fn) { + var self = this; + + if(evt === "data") { + this._worker.on(evt, function (chunk) { + fn.call(self, chunk.data, chunk.meta); + }); + } else { + this._worker.on(evt, function () { + utils.delay(fn, arguments, self); + }); + } + return this; + }, + /** + * Resume the flow of chunks. + * @return {StreamHelper} the current helper. + */ + resume : function () { + utils.delay(this._worker.resume, [], this._worker); + return this; + }, + /** + * Pause the flow of chunks. + * @return {StreamHelper} the current helper. + */ + pause : function () { + this._worker.pause(); + return this; + }, + /** + * Return a nodejs stream for this helper. + * @param {Function} updateCb the update callback. + * @return {NodejsStreamOutputAdapter} the nodejs stream. + */ + toNodejsStream : function (updateCb) { + utils.checkSupport("nodestream"); + if (this._outputType !== "nodebuffer") { + // an object stream containing blob/arraybuffer/uint8array/string + // is strange and I don't know if it would be useful. + // I you find this comment and have a good usecase, please open a + // bug report ! + throw new Error(this._outputType + " is not supported by this method"); + } + + return new NodejsStreamOutputAdapter(this, { + objectMode : this._outputType !== "nodebuffer" + }, updateCb); + } +}; + + +module.exports = StreamHelper; + +},{"../base64":1,"../external":6,"../nodejs/NodejsStreamOutputAdapter":13,"../support":30,"../utils":32,"./ConvertWorker":24,"./GenericWorker":28}],30:[function(require,module,exports){ +'use strict'; + +exports.base64 = true; +exports.array = true; +exports.string = true; +exports.arraybuffer = typeof ArrayBuffer !== "undefined" && typeof Uint8Array !== "undefined"; +exports.nodebuffer = typeof Buffer !== "undefined"; +// contains true if JSZip can read/generate Uint8Array, false otherwise. +exports.uint8array = typeof Uint8Array !== "undefined"; + +if (typeof ArrayBuffer === "undefined") { + exports.blob = false; +} +else { + var buffer = new ArrayBuffer(0); + try { + exports.blob = new Blob([buffer], { + type: "application/zip" + }).size === 0; + } + catch (e) { + try { + var Builder = self.BlobBuilder || self.WebKitBlobBuilder || self.MozBlobBuilder || self.MSBlobBuilder; + var builder = new Builder(); + builder.append(buffer); + exports.blob = builder.getBlob('application/zip').size === 0; + } + catch (e) { + exports.blob = false; + } + } +} + +try { + exports.nodestream = !!require('readable-stream').Readable; +} catch(e) { + exports.nodestream = false; +} + +},{"readable-stream":16}],31:[function(require,module,exports){ +'use strict'; + +var utils = require('./utils'); +var support = require('./support'); +var nodejsUtils = require('./nodejsUtils'); +var GenericWorker = require('./stream/GenericWorker'); + +/** + * The following functions come from pako, from pako/lib/utils/strings + * released under the MIT license, see pako https://github.com/nodeca/pako/ + */ + +// Table with utf8 lengths (calculated by first byte of sequence) +// Note, that 5 & 6-byte values and some 4-byte values can not be represented in JS, +// because max possible codepoint is 0x10ffff +var _utf8len = new Array(256); +for (var i=0; i<256; i++) { + _utf8len[i] = (i >= 252 ? 6 : i >= 248 ? 5 : i >= 240 ? 4 : i >= 224 ? 3 : i >= 192 ? 2 : 1); +} +_utf8len[254]=_utf8len[254]=1; // Invalid sequence start + +// convert string to array (typed, when possible) +var string2buf = function (str) { + var buf, c, c2, m_pos, i, str_len = str.length, buf_len = 0; + + // count binary size + for (m_pos = 0; m_pos < str_len; m_pos++) { + c = str.charCodeAt(m_pos); + if ((c & 0xfc00) === 0xd800 && (m_pos+1 < str_len)) { + c2 = str.charCodeAt(m_pos+1); + if ((c2 & 0xfc00) === 0xdc00) { + c = 0x10000 + ((c - 0xd800) << 10) + (c2 - 0xdc00); + m_pos++; + } + } + buf_len += c < 0x80 ? 1 : c < 0x800 ? 2 : c < 0x10000 ? 3 : 4; + } + + // allocate buffer + if (support.uint8array) { + buf = new Uint8Array(buf_len); + } else { + buf = new Array(buf_len); + } + + // convert + for (i=0, m_pos = 0; i < buf_len; m_pos++) { + c = str.charCodeAt(m_pos); + if ((c & 0xfc00) === 0xd800 && (m_pos+1 < str_len)) { + c2 = str.charCodeAt(m_pos+1); + if ((c2 & 0xfc00) === 0xdc00) { + c = 0x10000 + ((c - 0xd800) << 10) + (c2 - 0xdc00); + m_pos++; + } + } + if (c < 0x80) { + /* one byte */ + buf[i++] = c; + } else if (c < 0x800) { + /* two bytes */ + buf[i++] = 0xC0 | (c >>> 6); + buf[i++] = 0x80 | (c & 0x3f); + } else if (c < 0x10000) { + /* three bytes */ + buf[i++] = 0xE0 | (c >>> 12); + buf[i++] = 0x80 | (c >>> 6 & 0x3f); + buf[i++] = 0x80 | (c & 0x3f); + } else { + /* four bytes */ + buf[i++] = 0xf0 | (c >>> 18); + buf[i++] = 0x80 | (c >>> 12 & 0x3f); + buf[i++] = 0x80 | (c >>> 6 & 0x3f); + buf[i++] = 0x80 | (c & 0x3f); + } + } + + return buf; +}; + +// Calculate max possible position in utf8 buffer, +// that will not break sequence. If that's not possible +// - (very small limits) return max size as is. +// +// buf[] - utf8 bytes array +// max - length limit (mandatory); +var utf8border = function(buf, max) { + var pos; + + max = max || buf.length; + if (max > buf.length) { max = buf.length; } + + // go back from last position, until start of sequence found + pos = max-1; + while (pos >= 0 && (buf[pos] & 0xC0) === 0x80) { pos--; } + + // Fuckup - very small and broken sequence, + // return max, because we should return something anyway. + if (pos < 0) { return max; } + + // If we came to start of buffer - that means vuffer is too small, + // return max too. + if (pos === 0) { return max; } + + return (pos + _utf8len[buf[pos]] > max) ? pos : max; +}; + +// convert array to string +var buf2string = function (buf) { + var str, i, out, c, c_len; + var len = buf.length; + + // Reserve max possible length (2 words per char) + // NB: by unknown reasons, Array is significantly faster for + // String.fromCharCode.apply than Uint16Array. + var utf16buf = new Array(len*2); + + for (out=0, i=0; i 4) { utf16buf[out++] = 0xfffd; i += c_len-1; continue; } + + // apply mask on first byte + c &= c_len === 2 ? 0x1f : c_len === 3 ? 0x0f : 0x07; + // join the rest + while (c_len > 1 && i < len) { + c = (c << 6) | (buf[i++] & 0x3f); + c_len--; + } + + // terminated by end of string? + if (c_len > 1) { utf16buf[out++] = 0xfffd; continue; } + + if (c < 0x10000) { + utf16buf[out++] = c; + } else { + c -= 0x10000; + utf16buf[out++] = 0xd800 | ((c >> 10) & 0x3ff); + utf16buf[out++] = 0xdc00 | (c & 0x3ff); + } + } + + // shrinkBuf(utf16buf, out) + if (utf16buf.length !== out) { + if(utf16buf.subarray) { + utf16buf = utf16buf.subarray(0, out); + } else { + utf16buf.length = out; + } + } + + // return String.fromCharCode.apply(null, utf16buf); + return utils.applyFromCharCode(utf16buf); +}; + + +// That's all for the pako functions. + + +/** + * Transform a javascript string into an array (typed if possible) of bytes, + * UTF-8 encoded. + * @param {String} str the string to encode + * @return {Array|Uint8Array|Buffer} the UTF-8 encoded string. + */ +exports.utf8encode = function utf8encode(str) { + if (support.nodebuffer) { + return nodejsUtils.newBufferFrom(str, "utf-8"); + } + + return string2buf(str); +}; + + +/** + * Transform a bytes array (or a representation) representing an UTF-8 encoded + * string into a javascript string. + * @param {Array|Uint8Array|Buffer} buf the data de decode + * @return {String} the decoded string. + */ +exports.utf8decode = function utf8decode(buf) { + if (support.nodebuffer) { + return utils.transformTo("nodebuffer", buf).toString("utf-8"); + } + + buf = utils.transformTo(support.uint8array ? "uint8array" : "array", buf); + + return buf2string(buf); +}; + +/** + * A worker to decode utf8 encoded binary chunks into string chunks. + * @constructor + */ +function Utf8DecodeWorker() { + GenericWorker.call(this, "utf-8 decode"); + // the last bytes if a chunk didn't end with a complete codepoint. + this.leftOver = null; +} +utils.inherits(Utf8DecodeWorker, GenericWorker); + +/** + * @see GenericWorker.processChunk + */ +Utf8DecodeWorker.prototype.processChunk = function (chunk) { + + var data = utils.transformTo(support.uint8array ? "uint8array" : "array", chunk.data); + + // 1st step, re-use what's left of the previous chunk + if (this.leftOver && this.leftOver.length) { + if(support.uint8array) { + var previousData = data; + data = new Uint8Array(previousData.length + this.leftOver.length); + data.set(this.leftOver, 0); + data.set(previousData, this.leftOver.length); + } else { + data = this.leftOver.concat(data); + } + this.leftOver = null; + } + + var nextBoundary = utf8border(data); + var usableData = data; + if (nextBoundary !== data.length) { + if (support.uint8array) { + usableData = data.subarray(0, nextBoundary); + this.leftOver = data.subarray(nextBoundary, data.length); + } else { + usableData = data.slice(0, nextBoundary); + this.leftOver = data.slice(nextBoundary, data.length); + } + } + + this.push({ + data : exports.utf8decode(usableData), + meta : chunk.meta + }); +}; + +/** + * @see GenericWorker.flush + */ +Utf8DecodeWorker.prototype.flush = function () { + if(this.leftOver && this.leftOver.length) { + this.push({ + data : exports.utf8decode(this.leftOver), + meta : {} + }); + this.leftOver = null; + } +}; +exports.Utf8DecodeWorker = Utf8DecodeWorker; + +/** + * A worker to endcode string chunks into utf8 encoded binary chunks. + * @constructor + */ +function Utf8EncodeWorker() { + GenericWorker.call(this, "utf-8 encode"); +} +utils.inherits(Utf8EncodeWorker, GenericWorker); + +/** + * @see GenericWorker.processChunk + */ +Utf8EncodeWorker.prototype.processChunk = function (chunk) { + this.push({ + data : exports.utf8encode(chunk.data), + meta : chunk.meta + }); +}; +exports.Utf8EncodeWorker = Utf8EncodeWorker; + +},{"./nodejsUtils":14,"./stream/GenericWorker":28,"./support":30,"./utils":32}],32:[function(require,module,exports){ +'use strict'; + +var support = require('./support'); +var base64 = require('./base64'); +var nodejsUtils = require('./nodejsUtils'); +var setImmediate = require('set-immediate-shim'); +var external = require("./external"); + + +/** + * Convert a string that pass as a "binary string": it should represent a byte + * array but may have > 255 char codes. Be sure to take only the first byte + * and returns the byte array. + * @param {String} str the string to transform. + * @return {Array|Uint8Array} the string in a binary format. + */ +function string2binary(str) { + var result = null; + if (support.uint8array) { + result = new Uint8Array(str.length); + } else { + result = new Array(str.length); + } + return stringToArrayLike(str, result); +} + +/** + * Create a new blob with the given content and the given type. + * @param {String|ArrayBuffer} part the content to put in the blob. DO NOT use + * an Uint8Array because the stock browser of android 4 won't accept it (it + * will be silently converted to a string, "[object Uint8Array]"). + * + * Use only ONE part to build the blob to avoid a memory leak in IE11 / Edge: + * when a large amount of Array is used to create the Blob, the amount of + * memory consumed is nearly 100 times the original data amount. + * + * @param {String} type the mime type of the blob. + * @return {Blob} the created blob. + */ +exports.newBlob = function(part, type) { + exports.checkSupport("blob"); + + try { + // Blob constructor + return new Blob([part], { + type: type + }); + } + catch (e) { + + try { + // deprecated, browser only, old way + var Builder = self.BlobBuilder || self.WebKitBlobBuilder || self.MozBlobBuilder || self.MSBlobBuilder; + var builder = new Builder(); + builder.append(part); + return builder.getBlob(type); + } + catch (e) { + + // well, fuck ?! + throw new Error("Bug : can't construct the Blob."); + } + } + + +}; +/** + * The identity function. + * @param {Object} input the input. + * @return {Object} the same input. + */ +function identity(input) { + return input; +} + +/** + * Fill in an array with a string. + * @param {String} str the string to use. + * @param {Array|ArrayBuffer|Uint8Array|Buffer} array the array to fill in (will be mutated). + * @return {Array|ArrayBuffer|Uint8Array|Buffer} the updated array. + */ +function stringToArrayLike(str, array) { + for (var i = 0; i < str.length; ++i) { + array[i] = str.charCodeAt(i) & 0xFF; + } + return array; +} + +/** + * An helper for the function arrayLikeToString. + * This contains static information and functions that + * can be optimized by the browser JIT compiler. + */ +var arrayToStringHelper = { + /** + * Transform an array of int into a string, chunk by chunk. + * See the performances notes on arrayLikeToString. + * @param {Array|ArrayBuffer|Uint8Array|Buffer} array the array to transform. + * @param {String} type the type of the array. + * @param {Integer} chunk the chunk size. + * @return {String} the resulting string. + * @throws Error if the chunk is too big for the stack. + */ + stringifyByChunk: function(array, type, chunk) { + var result = [], k = 0, len = array.length; + // shortcut + if (len <= chunk) { + return String.fromCharCode.apply(null, array); + } + while (k < len) { + if (type === "array" || type === "nodebuffer") { + result.push(String.fromCharCode.apply(null, array.slice(k, Math.min(k + chunk, len)))); + } + else { + result.push(String.fromCharCode.apply(null, array.subarray(k, Math.min(k + chunk, len)))); + } + k += chunk; + } + return result.join(""); + }, + /** + * Call String.fromCharCode on every item in the array. + * This is the naive implementation, which generate A LOT of intermediate string. + * This should be used when everything else fail. + * @param {Array|ArrayBuffer|Uint8Array|Buffer} array the array to transform. + * @return {String} the result. + */ + stringifyByChar: function(array){ + var resultStr = ""; + for(var i = 0; i < array.length; i++) { + resultStr += String.fromCharCode(array[i]); + } + return resultStr; + }, + applyCanBeUsed : { + /** + * true if the browser accepts to use String.fromCharCode on Uint8Array + */ + uint8array : (function () { + try { + return support.uint8array && String.fromCharCode.apply(null, new Uint8Array(1)).length === 1; + } catch (e) { + return false; + } + })(), + /** + * true if the browser accepts to use String.fromCharCode on nodejs Buffer. + */ + nodebuffer : (function () { + try { + return support.nodebuffer && String.fromCharCode.apply(null, nodejsUtils.allocBuffer(1)).length === 1; + } catch (e) { + return false; + } + })() + } +}; + +/** + * Transform an array-like object to a string. + * @param {Array|ArrayBuffer|Uint8Array|Buffer} array the array to transform. + * @return {String} the result. + */ +function arrayLikeToString(array) { + // Performances notes : + // -------------------- + // String.fromCharCode.apply(null, array) is the fastest, see + // see http://jsperf.com/converting-a-uint8array-to-a-string/2 + // but the stack is limited (and we can get huge arrays !). + // + // result += String.fromCharCode(array[i]); generate too many strings ! + // + // This code is inspired by http://jsperf.com/arraybuffer-to-string-apply-performance/2 + // TODO : we now have workers that split the work. Do we still need that ? + var chunk = 65536, + type = exports.getTypeOf(array), + canUseApply = true; + if (type === "uint8array") { + canUseApply = arrayToStringHelper.applyCanBeUsed.uint8array; + } else if (type === "nodebuffer") { + canUseApply = arrayToStringHelper.applyCanBeUsed.nodebuffer; + } + + if (canUseApply) { + while (chunk > 1) { + try { + return arrayToStringHelper.stringifyByChunk(array, type, chunk); + } catch (e) { + chunk = Math.floor(chunk / 2); + } + } + } + + // no apply or chunk error : slow and painful algorithm + // default browser on android 4.* + return arrayToStringHelper.stringifyByChar(array); +} + +exports.applyFromCharCode = arrayLikeToString; + + +/** + * Copy the data from an array-like to an other array-like. + * @param {Array|ArrayBuffer|Uint8Array|Buffer} arrayFrom the origin array. + * @param {Array|ArrayBuffer|Uint8Array|Buffer} arrayTo the destination array which will be mutated. + * @return {Array|ArrayBuffer|Uint8Array|Buffer} the updated destination array. + */ +function arrayLikeToArrayLike(arrayFrom, arrayTo) { + for (var i = 0; i < arrayFrom.length; i++) { + arrayTo[i] = arrayFrom[i]; + } + return arrayTo; +} + +// a matrix containing functions to transform everything into everything. +var transform = {}; + +// string to ? +transform["string"] = { + "string": identity, + "array": function(input) { + return stringToArrayLike(input, new Array(input.length)); + }, + "arraybuffer": function(input) { + return transform["string"]["uint8array"](input).buffer; + }, + "uint8array": function(input) { + return stringToArrayLike(input, new Uint8Array(input.length)); + }, + "nodebuffer": function(input) { + return stringToArrayLike(input, nodejsUtils.allocBuffer(input.length)); + } +}; + +// array to ? +transform["array"] = { + "string": arrayLikeToString, + "array": identity, + "arraybuffer": function(input) { + return (new Uint8Array(input)).buffer; + }, + "uint8array": function(input) { + return new Uint8Array(input); + }, + "nodebuffer": function(input) { + return nodejsUtils.newBufferFrom(input); + } +}; + +// arraybuffer to ? +transform["arraybuffer"] = { + "string": function(input) { + return arrayLikeToString(new Uint8Array(input)); + }, + "array": function(input) { + return arrayLikeToArrayLike(new Uint8Array(input), new Array(input.byteLength)); + }, + "arraybuffer": identity, + "uint8array": function(input) { + return new Uint8Array(input); + }, + "nodebuffer": function(input) { + return nodejsUtils.newBufferFrom(new Uint8Array(input)); + } +}; + +// uint8array to ? +transform["uint8array"] = { + "string": arrayLikeToString, + "array": function(input) { + return arrayLikeToArrayLike(input, new Array(input.length)); + }, + "arraybuffer": function(input) { + return input.buffer; + }, + "uint8array": identity, + "nodebuffer": function(input) { + return nodejsUtils.newBufferFrom(input); + } +}; + +// nodebuffer to ? +transform["nodebuffer"] = { + "string": arrayLikeToString, + "array": function(input) { + return arrayLikeToArrayLike(input, new Array(input.length)); + }, + "arraybuffer": function(input) { + return transform["nodebuffer"]["uint8array"](input).buffer; + }, + "uint8array": function(input) { + return arrayLikeToArrayLike(input, new Uint8Array(input.length)); + }, + "nodebuffer": identity +}; + +/** + * Transform an input into any type. + * The supported output type are : string, array, uint8array, arraybuffer, nodebuffer. + * If no output type is specified, the unmodified input will be returned. + * @param {String} outputType the output type. + * @param {String|Array|ArrayBuffer|Uint8Array|Buffer} input the input to convert. + * @throws {Error} an Error if the browser doesn't support the requested output type. + */ +exports.transformTo = function(outputType, input) { + if (!input) { + // undefined, null, etc + // an empty string won't harm. + input = ""; + } + if (!outputType) { + return input; + } + exports.checkSupport(outputType); + var inputType = exports.getTypeOf(input); + var result = transform[inputType][outputType](input); + return result; +}; + +/** + * Return the type of the input. + * The type will be in a format valid for JSZip.utils.transformTo : string, array, uint8array, arraybuffer. + * @param {Object} input the input to identify. + * @return {String} the (lowercase) type of the input. + */ +exports.getTypeOf = function(input) { + if (typeof input === "string") { + return "string"; + } + if (Object.prototype.toString.call(input) === "[object Array]") { + return "array"; + } + if (support.nodebuffer && nodejsUtils.isBuffer(input)) { + return "nodebuffer"; + } + if (support.uint8array && input instanceof Uint8Array) { + return "uint8array"; + } + if (support.arraybuffer && input instanceof ArrayBuffer) { + return "arraybuffer"; + } +}; + +/** + * Throw an exception if the type is not supported. + * @param {String} type the type to check. + * @throws {Error} an Error if the browser doesn't support the requested type. + */ +exports.checkSupport = function(type) { + var supported = support[type.toLowerCase()]; + if (!supported) { + throw new Error(type + " is not supported by this platform"); + } +}; + +exports.MAX_VALUE_16BITS = 65535; +exports.MAX_VALUE_32BITS = -1; // well, "\xFF\xFF\xFF\xFF\xFF\xFF\xFF\xFF" is parsed as -1 + +/** + * Prettify a string read as binary. + * @param {string} str the string to prettify. + * @return {string} a pretty string. + */ +exports.pretty = function(str) { + var res = '', + code, i; + for (i = 0; i < (str || "").length; i++) { + code = str.charCodeAt(i); + res += '\\x' + (code < 16 ? "0" : "") + code.toString(16).toUpperCase(); + } + return res; +}; + +/** + * Defer the call of a function. + * @param {Function} callback the function to call asynchronously. + * @param {Array} args the arguments to give to the callback. + */ +exports.delay = function(callback, args, self) { + setImmediate(function () { + callback.apply(self || null, args || []); + }); +}; + +/** + * Extends a prototype with an other, without calling a constructor with + * side effects. Inspired by nodejs' `utils.inherits` + * @param {Function} ctor the constructor to augment + * @param {Function} superCtor the parent constructor to use + */ +exports.inherits = function (ctor, superCtor) { + var Obj = function() {}; + Obj.prototype = superCtor.prototype; + ctor.prototype = new Obj(); +}; + +/** + * Merge the objects passed as parameters into a new one. + * @private + * @param {...Object} var_args All objects to merge. + * @return {Object} a new object with the data of the others. + */ +exports.extend = function() { + var result = {}, i, attr; + for (i = 0; i < arguments.length; i++) { // arguments is not enumerable in some browsers + for (attr in arguments[i]) { + if (arguments[i].hasOwnProperty(attr) && typeof result[attr] === "undefined") { + result[attr] = arguments[i][attr]; + } + } + } + return result; +}; + +/** + * Transform arbitrary content into a Promise. + * @param {String} name a name for the content being processed. + * @param {Object} inputData the content to process. + * @param {Boolean} isBinary true if the content is not an unicode string + * @param {Boolean} isOptimizedBinaryString true if the string content only has one byte per character. + * @param {Boolean} isBase64 true if the string content is encoded with base64. + * @return {Promise} a promise in a format usable by JSZip. + */ +exports.prepareContent = function(name, inputData, isBinary, isOptimizedBinaryString, isBase64) { + + // if inputData is already a promise, this flatten it. + var promise = external.Promise.resolve(inputData).then(function(data) { + + + var isBlob = support.blob && (data instanceof Blob || ['[object File]', '[object Blob]'].indexOf(Object.prototype.toString.call(data)) !== -1); + + if (isBlob && typeof FileReader !== "undefined") { + return new external.Promise(function (resolve, reject) { + var reader = new FileReader(); + + reader.onload = function(e) { + resolve(e.target.result); + }; + reader.onerror = function(e) { + reject(e.target.error); + }; + reader.readAsArrayBuffer(data); + }); + } else { + return data; + } + }); + + return promise.then(function(data) { + var dataType = exports.getTypeOf(data); + + if (!dataType) { + return external.Promise.reject( + new Error("Can't read the data of '" + name + "'. Is it " + + "in a supported JavaScript type (String, Blob, ArrayBuffer, etc) ?") + ); + } + // special case : it's way easier to work with Uint8Array than with ArrayBuffer + if (dataType === "arraybuffer") { + data = exports.transformTo("uint8array", data); + } else if (dataType === "string") { + if (isBase64) { + data = base64.decode(data); + } + else if (isBinary) { + // optimizedBinaryString === true means that the file has already been filtered with a 0xFF mask + if (isOptimizedBinaryString !== true) { + // this is a string, not in a base64 format. + // Be sure that this is a correct "binary string" + data = string2binary(data); + } + } + } + return data; + }); +}; + +},{"./base64":1,"./external":6,"./nodejsUtils":14,"./support":30,"set-immediate-shim":54}],33:[function(require,module,exports){ +'use strict'; +var readerFor = require('./reader/readerFor'); +var utils = require('./utils'); +var sig = require('./signature'); +var ZipEntry = require('./zipEntry'); +var utf8 = require('./utf8'); +var support = require('./support'); +// class ZipEntries {{{ +/** + * All the entries in the zip file. + * @constructor + * @param {Object} loadOptions Options for loading the stream. + */ +function ZipEntries(loadOptions) { + this.files = []; + this.loadOptions = loadOptions; +} +ZipEntries.prototype = { + /** + * Check that the reader is on the specified signature. + * @param {string} expectedSignature the expected signature. + * @throws {Error} if it is an other signature. + */ + checkSignature: function(expectedSignature) { + if (!this.reader.readAndCheckSignature(expectedSignature)) { + this.reader.index -= 4; + var signature = this.reader.readString(4); + throw new Error("Corrupted zip or bug: unexpected signature " + "(" + utils.pretty(signature) + ", expected " + utils.pretty(expectedSignature) + ")"); + } + }, + /** + * Check if the given signature is at the given index. + * @param {number} askedIndex the index to check. + * @param {string} expectedSignature the signature to expect. + * @return {boolean} true if the signature is here, false otherwise. + */ + isSignature: function(askedIndex, expectedSignature) { + var currentIndex = this.reader.index; + this.reader.setIndex(askedIndex); + var signature = this.reader.readString(4); + var result = signature === expectedSignature; + this.reader.setIndex(currentIndex); + return result; + }, + /** + * Read the end of the central directory. + */ + readBlockEndOfCentral: function() { + this.diskNumber = this.reader.readInt(2); + this.diskWithCentralDirStart = this.reader.readInt(2); + this.centralDirRecordsOnThisDisk = this.reader.readInt(2); + this.centralDirRecords = this.reader.readInt(2); + this.centralDirSize = this.reader.readInt(4); + this.centralDirOffset = this.reader.readInt(4); + + this.zipCommentLength = this.reader.readInt(2); + // warning : the encoding depends of the system locale + // On a linux machine with LANG=en_US.utf8, this field is utf8 encoded. + // On a windows machine, this field is encoded with the localized windows code page. + var zipComment = this.reader.readData(this.zipCommentLength); + var decodeParamType = support.uint8array ? "uint8array" : "array"; + // To get consistent behavior with the generation part, we will assume that + // this is utf8 encoded unless specified otherwise. + var decodeContent = utils.transformTo(decodeParamType, zipComment); + this.zipComment = this.loadOptions.decodeFileName(decodeContent); + }, + /** + * Read the end of the Zip 64 central directory. + * Not merged with the method readEndOfCentral : + * The end of central can coexist with its Zip64 brother, + * I don't want to read the wrong number of bytes ! + */ + readBlockZip64EndOfCentral: function() { + this.zip64EndOfCentralSize = this.reader.readInt(8); + this.reader.skip(4); + // this.versionMadeBy = this.reader.readString(2); + // this.versionNeeded = this.reader.readInt(2); + this.diskNumber = this.reader.readInt(4); + this.diskWithCentralDirStart = this.reader.readInt(4); + this.centralDirRecordsOnThisDisk = this.reader.readInt(8); + this.centralDirRecords = this.reader.readInt(8); + this.centralDirSize = this.reader.readInt(8); + this.centralDirOffset = this.reader.readInt(8); + + this.zip64ExtensibleData = {}; + var extraDataSize = this.zip64EndOfCentralSize - 44, + index = 0, + extraFieldId, + extraFieldLength, + extraFieldValue; + while (index < extraDataSize) { + extraFieldId = this.reader.readInt(2); + extraFieldLength = this.reader.readInt(4); + extraFieldValue = this.reader.readData(extraFieldLength); + this.zip64ExtensibleData[extraFieldId] = { + id: extraFieldId, + length: extraFieldLength, + value: extraFieldValue + }; + } + }, + /** + * Read the end of the Zip 64 central directory locator. + */ + readBlockZip64EndOfCentralLocator: function() { + this.diskWithZip64CentralDirStart = this.reader.readInt(4); + this.relativeOffsetEndOfZip64CentralDir = this.reader.readInt(8); + this.disksCount = this.reader.readInt(4); + if (this.disksCount > 1) { + throw new Error("Multi-volumes zip are not supported"); + } + }, + /** + * Read the local files, based on the offset read in the central part. + */ + readLocalFiles: function() { + var i, file; + for (i = 0; i < this.files.length; i++) { + file = this.files[i]; + this.reader.setIndex(file.localHeaderOffset); + this.checkSignature(sig.LOCAL_FILE_HEADER); + file.readLocalPart(this.reader); + file.handleUTF8(); + file.processAttributes(); + } + }, + /** + * Read the central directory. + */ + readCentralDir: function() { + var file; + + this.reader.setIndex(this.centralDirOffset); + while (this.reader.readAndCheckSignature(sig.CENTRAL_FILE_HEADER)) { + file = new ZipEntry({ + zip64: this.zip64 + }, this.loadOptions); + file.readCentralPart(this.reader); + this.files.push(file); + } + + if (this.centralDirRecords !== this.files.length) { + if (this.centralDirRecords !== 0 && this.files.length === 0) { + // We expected some records but couldn't find ANY. + // This is really suspicious, as if something went wrong. + throw new Error("Corrupted zip or bug: expected " + this.centralDirRecords + " records in central dir, got " + this.files.length); + } else { + // We found some records but not all. + // Something is wrong but we got something for the user: no error here. + // console.warn("expected", this.centralDirRecords, "records in central dir, got", this.files.length); + } + } + }, + /** + * Read the end of central directory. + */ + readEndOfCentral: function() { + var offset = this.reader.lastIndexOfSignature(sig.CENTRAL_DIRECTORY_END); + if (offset < 0) { + // Check if the content is a truncated zip or complete garbage. + // A "LOCAL_FILE_HEADER" is not required at the beginning (auto + // extractible zip for example) but it can give a good hint. + // If an ajax request was used without responseType, we will also + // get unreadable data. + var isGarbage = !this.isSignature(0, sig.LOCAL_FILE_HEADER); + + if (isGarbage) { + throw new Error("Can't find end of central directory : is this a zip file ? " + + "If it is, see https://stuk.github.io/jszip/documentation/howto/read_zip.html"); + } else { + throw new Error("Corrupted zip: can't find end of central directory"); + } + + } + this.reader.setIndex(offset); + var endOfCentralDirOffset = offset; + this.checkSignature(sig.CENTRAL_DIRECTORY_END); + this.readBlockEndOfCentral(); + + + /* extract from the zip spec : + 4) If one of the fields in the end of central directory + record is too small to hold required data, the field + should be set to -1 (0xFFFF or 0xFFFFFFFF) and the + ZIP64 format record should be created. + 5) The end of central directory record and the + Zip64 end of central directory locator record must + reside on the same disk when splitting or spanning + an archive. + */ + if (this.diskNumber === utils.MAX_VALUE_16BITS || this.diskWithCentralDirStart === utils.MAX_VALUE_16BITS || this.centralDirRecordsOnThisDisk === utils.MAX_VALUE_16BITS || this.centralDirRecords === utils.MAX_VALUE_16BITS || this.centralDirSize === utils.MAX_VALUE_32BITS || this.centralDirOffset === utils.MAX_VALUE_32BITS) { + this.zip64 = true; + + /* + Warning : the zip64 extension is supported, but ONLY if the 64bits integer read from + the zip file can fit into a 32bits integer. This cannot be solved : JavaScript represents + all numbers as 64-bit double precision IEEE 754 floating point numbers. + So, we have 53bits for integers and bitwise operations treat everything as 32bits. + see https://developer.mozilla.org/en-US/docs/JavaScript/Reference/Operators/Bitwise_Operators + and http://www.ecma-international.org/publications/files/ECMA-ST/ECMA-262.pdf section 8.5 + */ + + // should look for a zip64 EOCD locator + offset = this.reader.lastIndexOfSignature(sig.ZIP64_CENTRAL_DIRECTORY_LOCATOR); + if (offset < 0) { + throw new Error("Corrupted zip: can't find the ZIP64 end of central directory locator"); + } + this.reader.setIndex(offset); + this.checkSignature(sig.ZIP64_CENTRAL_DIRECTORY_LOCATOR); + this.readBlockZip64EndOfCentralLocator(); + + // now the zip64 EOCD record + if (!this.isSignature(this.relativeOffsetEndOfZip64CentralDir, sig.ZIP64_CENTRAL_DIRECTORY_END)) { + // console.warn("ZIP64 end of central directory not where expected."); + this.relativeOffsetEndOfZip64CentralDir = this.reader.lastIndexOfSignature(sig.ZIP64_CENTRAL_DIRECTORY_END); + if (this.relativeOffsetEndOfZip64CentralDir < 0) { + throw new Error("Corrupted zip: can't find the ZIP64 end of central directory"); + } + } + this.reader.setIndex(this.relativeOffsetEndOfZip64CentralDir); + this.checkSignature(sig.ZIP64_CENTRAL_DIRECTORY_END); + this.readBlockZip64EndOfCentral(); + } + + var expectedEndOfCentralDirOffset = this.centralDirOffset + this.centralDirSize; + if (this.zip64) { + expectedEndOfCentralDirOffset += 20; // end of central dir 64 locator + expectedEndOfCentralDirOffset += 12 /* should not include the leading 12 bytes */ + this.zip64EndOfCentralSize; + } + + var extraBytes = endOfCentralDirOffset - expectedEndOfCentralDirOffset; + + if (extraBytes > 0) { + // console.warn(extraBytes, "extra bytes at beginning or within zipfile"); + if (this.isSignature(endOfCentralDirOffset, sig.CENTRAL_FILE_HEADER)) { + // The offsets seem wrong, but we have something at the specified offset. + // So… we keep it. + } else { + // the offset is wrong, update the "zero" of the reader + // this happens if data has been prepended (crx files for example) + this.reader.zero = extraBytes; + } + } else if (extraBytes < 0) { + throw new Error("Corrupted zip: missing " + Math.abs(extraBytes) + " bytes."); + } + }, + prepareReader: function(data) { + this.reader = readerFor(data); + }, + /** + * Read a zip file and create ZipEntries. + * @param {String|ArrayBuffer|Uint8Array|Buffer} data the binary string representing a zip file. + */ + load: function(data) { + this.prepareReader(data); + this.readEndOfCentral(); + this.readCentralDir(); + this.readLocalFiles(); + } +}; +// }}} end of ZipEntries +module.exports = ZipEntries; + +},{"./reader/readerFor":22,"./signature":23,"./support":30,"./utf8":31,"./utils":32,"./zipEntry":34}],34:[function(require,module,exports){ +'use strict'; +var readerFor = require('./reader/readerFor'); +var utils = require('./utils'); +var CompressedObject = require('./compressedObject'); +var crc32fn = require('./crc32'); +var utf8 = require('./utf8'); +var compressions = require('./compressions'); +var support = require('./support'); + +var MADE_BY_DOS = 0x00; +var MADE_BY_UNIX = 0x03; + +/** + * Find a compression registered in JSZip. + * @param {string} compressionMethod the method magic to find. + * @return {Object|null} the JSZip compression object, null if none found. + */ +var findCompression = function(compressionMethod) { + for (var method in compressions) { + if (!compressions.hasOwnProperty(method)) { + continue; + } + if (compressions[method].magic === compressionMethod) { + return compressions[method]; + } + } + return null; +}; + +// class ZipEntry {{{ +/** + * An entry in the zip file. + * @constructor + * @param {Object} options Options of the current file. + * @param {Object} loadOptions Options for loading the stream. + */ +function ZipEntry(options, loadOptions) { + this.options = options; + this.loadOptions = loadOptions; +} +ZipEntry.prototype = { + /** + * say if the file is encrypted. + * @return {boolean} true if the file is encrypted, false otherwise. + */ + isEncrypted: function() { + // bit 1 is set + return (this.bitFlag & 0x0001) === 0x0001; + }, + /** + * say if the file has utf-8 filename/comment. + * @return {boolean} true if the filename/comment is in utf-8, false otherwise. + */ + useUTF8: function() { + // bit 11 is set + return (this.bitFlag & 0x0800) === 0x0800; + }, + /** + * Read the local part of a zip file and add the info in this object. + * @param {DataReader} reader the reader to use. + */ + readLocalPart: function(reader) { + var compression, localExtraFieldsLength; + + // we already know everything from the central dir ! + // If the central dir data are false, we are doomed. + // On the bright side, the local part is scary : zip64, data descriptors, both, etc. + // The less data we get here, the more reliable this should be. + // Let's skip the whole header and dash to the data ! + reader.skip(22); + // in some zip created on windows, the filename stored in the central dir contains \ instead of /. + // Strangely, the filename here is OK. + // I would love to treat these zip files as corrupted (see http://www.info-zip.org/FAQ.html#backslashes + // or APPNOTE#4.4.17.1, "All slashes MUST be forward slashes '/'") but there are a lot of bad zip generators... + // Search "unzip mismatching "local" filename continuing with "central" filename version" on + // the internet. + // + // I think I see the logic here : the central directory is used to display + // content and the local directory is used to extract the files. Mixing / and \ + // may be used to display \ to windows users and use / when extracting the files. + // Unfortunately, this lead also to some issues : http://seclists.org/fulldisclosure/2009/Sep/394 + this.fileNameLength = reader.readInt(2); + localExtraFieldsLength = reader.readInt(2); // can't be sure this will be the same as the central dir + // the fileName is stored as binary data, the handleUTF8 method will take care of the encoding. + this.fileName = reader.readData(this.fileNameLength); + reader.skip(localExtraFieldsLength); + + if (this.compressedSize === -1 || this.uncompressedSize === -1) { + throw new Error("Bug or corrupted zip : didn't get enough information from the central directory " + "(compressedSize === -1 || uncompressedSize === -1)"); + } + + compression = findCompression(this.compressionMethod); + if (compression === null) { // no compression found + throw new Error("Corrupted zip : compression " + utils.pretty(this.compressionMethod) + " unknown (inner file : " + utils.transformTo("string", this.fileName) + ")"); + } + this.decompressed = new CompressedObject(this.compressedSize, this.uncompressedSize, this.crc32, compression, reader.readData(this.compressedSize)); + }, + + /** + * Read the central part of a zip file and add the info in this object. + * @param {DataReader} reader the reader to use. + */ + readCentralPart: function(reader) { + this.versionMadeBy = reader.readInt(2); + reader.skip(2); + // this.versionNeeded = reader.readInt(2); + this.bitFlag = reader.readInt(2); + this.compressionMethod = reader.readString(2); + this.date = reader.readDate(); + this.crc32 = reader.readInt(4); + this.compressedSize = reader.readInt(4); + this.uncompressedSize = reader.readInt(4); + var fileNameLength = reader.readInt(2); + this.extraFieldsLength = reader.readInt(2); + this.fileCommentLength = reader.readInt(2); + this.diskNumberStart = reader.readInt(2); + this.internalFileAttributes = reader.readInt(2); + this.externalFileAttributes = reader.readInt(4); + this.localHeaderOffset = reader.readInt(4); + + if (this.isEncrypted()) { + throw new Error("Encrypted zip are not supported"); + } + + // will be read in the local part, see the comments there + reader.skip(fileNameLength); + this.readExtraFields(reader); + this.parseZIP64ExtraField(reader); + this.fileComment = reader.readData(this.fileCommentLength); + }, + + /** + * Parse the external file attributes and get the unix/dos permissions. + */ + processAttributes: function () { + this.unixPermissions = null; + this.dosPermissions = null; + var madeBy = this.versionMadeBy >> 8; + + // Check if we have the DOS directory flag set. + // We look for it in the DOS and UNIX permissions + // but some unknown platform could set it as a compatibility flag. + this.dir = this.externalFileAttributes & 0x0010 ? true : false; + + if(madeBy === MADE_BY_DOS) { + // first 6 bits (0 to 5) + this.dosPermissions = this.externalFileAttributes & 0x3F; + } + + if(madeBy === MADE_BY_UNIX) { + this.unixPermissions = (this.externalFileAttributes >> 16) & 0xFFFF; + // the octal permissions are in (this.unixPermissions & 0x01FF).toString(8); + } + + // fail safe : if the name ends with a / it probably means a folder + if (!this.dir && this.fileNameStr.slice(-1) === '/') { + this.dir = true; + } + }, + + /** + * Parse the ZIP64 extra field and merge the info in the current ZipEntry. + * @param {DataReader} reader the reader to use. + */ + parseZIP64ExtraField: function(reader) { + + if (!this.extraFields[0x0001]) { + return; + } + + // should be something, preparing the extra reader + var extraReader = readerFor(this.extraFields[0x0001].value); + + // I really hope that these 64bits integer can fit in 32 bits integer, because js + // won't let us have more. + if (this.uncompressedSize === utils.MAX_VALUE_32BITS) { + this.uncompressedSize = extraReader.readInt(8); + } + if (this.compressedSize === utils.MAX_VALUE_32BITS) { + this.compressedSize = extraReader.readInt(8); + } + if (this.localHeaderOffset === utils.MAX_VALUE_32BITS) { + this.localHeaderOffset = extraReader.readInt(8); + } + if (this.diskNumberStart === utils.MAX_VALUE_32BITS) { + this.diskNumberStart = extraReader.readInt(4); + } + }, + /** + * Read the central part of a zip file and add the info in this object. + * @param {DataReader} reader the reader to use. + */ + readExtraFields: function(reader) { + var end = reader.index + this.extraFieldsLength, + extraFieldId, + extraFieldLength, + extraFieldValue; + + if (!this.extraFields) { + this.extraFields = {}; + } + + while (reader.index + 4 < end) { + extraFieldId = reader.readInt(2); + extraFieldLength = reader.readInt(2); + extraFieldValue = reader.readData(extraFieldLength); + + this.extraFields[extraFieldId] = { + id: extraFieldId, + length: extraFieldLength, + value: extraFieldValue + }; + } + + reader.setIndex(end); + }, + /** + * Apply an UTF8 transformation if needed. + */ + handleUTF8: function() { + var decodeParamType = support.uint8array ? "uint8array" : "array"; + if (this.useUTF8()) { + this.fileNameStr = utf8.utf8decode(this.fileName); + this.fileCommentStr = utf8.utf8decode(this.fileComment); + } else { + var upath = this.findExtraFieldUnicodePath(); + if (upath !== null) { + this.fileNameStr = upath; + } else { + // ASCII text or unsupported code page + var fileNameByteArray = utils.transformTo(decodeParamType, this.fileName); + this.fileNameStr = this.loadOptions.decodeFileName(fileNameByteArray); + } + + var ucomment = this.findExtraFieldUnicodeComment(); + if (ucomment !== null) { + this.fileCommentStr = ucomment; + } else { + // ASCII text or unsupported code page + var commentByteArray = utils.transformTo(decodeParamType, this.fileComment); + this.fileCommentStr = this.loadOptions.decodeFileName(commentByteArray); + } + } + }, + + /** + * Find the unicode path declared in the extra field, if any. + * @return {String} the unicode path, null otherwise. + */ + findExtraFieldUnicodePath: function() { + var upathField = this.extraFields[0x7075]; + if (upathField) { + var extraReader = readerFor(upathField.value); + + // wrong version + if (extraReader.readInt(1) !== 1) { + return null; + } + + // the crc of the filename changed, this field is out of date. + if (crc32fn(this.fileName) !== extraReader.readInt(4)) { + return null; + } + + return utf8.utf8decode(extraReader.readData(upathField.length - 5)); + } + return null; + }, + + /** + * Find the unicode comment declared in the extra field, if any. + * @return {String} the unicode comment, null otherwise. + */ + findExtraFieldUnicodeComment: function() { + var ucommentField = this.extraFields[0x6375]; + if (ucommentField) { + var extraReader = readerFor(ucommentField.value); + + // wrong version + if (extraReader.readInt(1) !== 1) { + return null; + } + + // the crc of the comment changed, this field is out of date. + if (crc32fn(this.fileComment) !== extraReader.readInt(4)) { + return null; + } + + return utf8.utf8decode(extraReader.readData(ucommentField.length - 5)); + } + return null; + } +}; +module.exports = ZipEntry; + +},{"./compressedObject":2,"./compressions":3,"./crc32":4,"./reader/readerFor":22,"./support":30,"./utf8":31,"./utils":32}],35:[function(require,module,exports){ +'use strict'; + +var StreamHelper = require('./stream/StreamHelper'); +var DataWorker = require('./stream/DataWorker'); +var utf8 = require('./utf8'); +var CompressedObject = require('./compressedObject'); +var GenericWorker = require('./stream/GenericWorker'); + +/** + * A simple object representing a file in the zip file. + * @constructor + * @param {string} name the name of the file + * @param {String|ArrayBuffer|Uint8Array|Buffer} data the data + * @param {Object} options the options of the file + */ +var ZipObject = function(name, data, options) { + this.name = name; + this.dir = options.dir; + this.date = options.date; + this.comment = options.comment; + this.unixPermissions = options.unixPermissions; + this.dosPermissions = options.dosPermissions; + + this._data = data; + this._dataBinary = options.binary; + // keep only the compression + this.options = { + compression : options.compression, + compressionOptions : options.compressionOptions + }; +}; + +ZipObject.prototype = { + /** + * Create an internal stream for the content of this object. + * @param {String} type the type of each chunk. + * @return StreamHelper the stream. + */ + internalStream: function (type) { + var result = null, outputType = "string"; + try { + if (!type) { + throw new Error("No output type specified."); + } + outputType = type.toLowerCase(); + var askUnicodeString = outputType === "string" || outputType === "text"; + if (outputType === "binarystring" || outputType === "text") { + outputType = "string"; + } + result = this._decompressWorker(); + + var isUnicodeString = !this._dataBinary; + + if (isUnicodeString && !askUnicodeString) { + result = result.pipe(new utf8.Utf8EncodeWorker()); + } + if (!isUnicodeString && askUnicodeString) { + result = result.pipe(new utf8.Utf8DecodeWorker()); + } + } catch (e) { + result = new GenericWorker("error"); + result.error(e); + } + + return new StreamHelper(result, outputType, ""); + }, + + /** + * Prepare the content in the asked type. + * @param {String} type the type of the result. + * @param {Function} onUpdate a function to call on each internal update. + * @return Promise the promise of the result. + */ + async: function (type, onUpdate) { + return this.internalStream(type).accumulate(onUpdate); + }, + + /** + * Prepare the content as a nodejs stream. + * @param {String} type the type of each chunk. + * @param {Function} onUpdate a function to call on each internal update. + * @return Stream the stream. + */ + nodeStream: function (type, onUpdate) { + return this.internalStream(type || "nodebuffer").toNodejsStream(onUpdate); + }, + + /** + * Return a worker for the compressed content. + * @private + * @param {Object} compression the compression object to use. + * @param {Object} compressionOptions the options to use when compressing. + * @return Worker the worker. + */ + _compressWorker: function (compression, compressionOptions) { + if ( + this._data instanceof CompressedObject && + this._data.compression.magic === compression.magic + ) { + return this._data.getCompressedWorker(); + } else { + var result = this._decompressWorker(); + if(!this._dataBinary) { + result = result.pipe(new utf8.Utf8EncodeWorker()); + } + return CompressedObject.createWorkerFrom(result, compression, compressionOptions); + } + }, + /** + * Return a worker for the decompressed content. + * @private + * @return Worker the worker. + */ + _decompressWorker : function () { + if (this._data instanceof CompressedObject) { + return this._data.getContentWorker(); + } else if (this._data instanceof GenericWorker) { + return this._data; + } else { + return new DataWorker(this._data); + } + } +}; + +var removedMethods = ["asText", "asBinary", "asNodeBuffer", "asUint8Array", "asArrayBuffer"]; +var removedFn = function () { + throw new Error("This method has been removed in JSZip 3.0, please check the upgrade guide."); +}; + +for(var i = 0; i < removedMethods.length; i++) { + ZipObject.prototype[removedMethods[i]] = removedFn; +} +module.exports = ZipObject; + +},{"./compressedObject":2,"./stream/DataWorker":27,"./stream/GenericWorker":28,"./stream/StreamHelper":29,"./utf8":31}],36:[function(require,module,exports){ +(function (global){ +'use strict'; +var Mutation = global.MutationObserver || global.WebKitMutationObserver; + +var scheduleDrain; + +{ + if (Mutation) { + var called = 0; + var observer = new Mutation(nextTick); + var element = global.document.createTextNode(''); + observer.observe(element, { + characterData: true + }); + scheduleDrain = function () { + element.data = (called = ++called % 2); + }; + } else if (!global.setImmediate && typeof global.MessageChannel !== 'undefined') { + var channel = new global.MessageChannel(); + channel.port1.onmessage = nextTick; + scheduleDrain = function () { + channel.port2.postMessage(0); + }; + } else if ('document' in global && 'onreadystatechange' in global.document.createElement('script')) { + scheduleDrain = function () { + + // Create a + + + + + +
    + +

    index.html

    +
    + + diff --git a/docs/java/overview-tree.html b/docs/java/overview-tree.html new file mode 100644 index 00000000..3ad99918 --- /dev/null +++ b/docs/java/overview-tree.html @@ -0,0 +1,246 @@ + + + + + +Class Hierarchy (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Hierarchy For All Packages

    +Package Hierarchies: + +
    +
    +
    +

    Class Hierarchy

    + +
    +
    +

    Interface Hierarchy

    + +
    +
    +
    +
    + +
    + + diff --git a/docs/java/package-search-index.js b/docs/java/package-search-index.js new file mode 100644 index 00000000..ce279d08 --- /dev/null +++ b/docs/java/package-search-index.js @@ -0,0 +1 @@ +packageSearchIndex = [{"l":"All Packages","url":"allpackages-index.html"},{"l":"com.pathplanner.lib.auto"},{"l":"com.pathplanner.lib.commands"},{"l":"com.pathplanner.lib.controllers"},{"l":"com.pathplanner.lib.path"},{"l":"com.pathplanner.lib.pathfinding"},{"l":"com.pathplanner.lib.util"}] \ No newline at end of file diff --git a/docs/java/package-search-index.zip b/docs/java/package-search-index.zip new file mode 100644 index 00000000..2d1954cf Binary files /dev/null and b/docs/java/package-search-index.zip differ diff --git a/docs/java/resources/glass.png b/docs/java/resources/glass.png new file mode 100644 index 00000000..a7f591f4 Binary files /dev/null and b/docs/java/resources/glass.png differ diff --git a/docs/java/resources/x.png b/docs/java/resources/x.png new file mode 100644 index 00000000..30548a75 Binary files /dev/null and b/docs/java/resources/x.png differ diff --git a/docs/java/script.js b/docs/java/script.js new file mode 100644 index 00000000..7dc93c48 --- /dev/null +++ b/docs/java/script.js @@ -0,0 +1,149 @@ +/* + * Copyright (c) 2013, 2018, Oracle and/or its affiliates. All rights reserved. + * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER. + * + * This code is free software; you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 2 only, as + * published by the Free Software Foundation. Oracle designates this + * particular file as subject to the "Classpath" exception as provided + * by Oracle in the LICENSE file that accompanied this code. + * + * This code is distributed in the hope that it will be useful, but WITHOUT + * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * version 2 for more details (a copy is included in the LICENSE file that + * accompanied this code). + * + * You should have received a copy of the GNU General Public License version + * 2 along with this work; if not, write to the Free Software Foundation, + * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA. + * + * Please contact Oracle, 500 Oracle Parkway, Redwood Shores, CA 94065 USA + * or visit www.oracle.com if you need additional information or have any + * questions. + */ + +var moduleSearchIndex; +var packageSearchIndex; +var typeSearchIndex; +var memberSearchIndex; +var tagSearchIndex; +function loadScripts(doc, tag) { + createElem(doc, tag, 'jquery/jszip/dist/jszip.js'); + createElem(doc, tag, 'jquery/jszip-utils/dist/jszip-utils.js'); + if (window.navigator.userAgent.indexOf('MSIE ') > 0 || window.navigator.userAgent.indexOf('Trident/') > 0 || + window.navigator.userAgent.indexOf('Edge/') > 0) { + createElem(doc, tag, 'jquery/jszip-utils/dist/jszip-utils-ie.js'); + } + createElem(doc, tag, 'search.js'); + + $.get(pathtoroot + "module-search-index.zip") + .done(function() { + JSZipUtils.getBinaryContent(pathtoroot + "module-search-index.zip", function(e, data) { + JSZip.loadAsync(data).then(function(zip){ + zip.file("module-search-index.json").async("text").then(function(content){ + moduleSearchIndex = JSON.parse(content); + }); + }); + }); + }); + $.get(pathtoroot + "package-search-index.zip") + .done(function() { + JSZipUtils.getBinaryContent(pathtoroot + "package-search-index.zip", function(e, data) { + JSZip.loadAsync(data).then(function(zip){ + zip.file("package-search-index.json").async("text").then(function(content){ + packageSearchIndex = JSON.parse(content); + }); + }); + }); + }); + $.get(pathtoroot + "type-search-index.zip") + .done(function() { + JSZipUtils.getBinaryContent(pathtoroot + "type-search-index.zip", function(e, data) { + JSZip.loadAsync(data).then(function(zip){ + zip.file("type-search-index.json").async("text").then(function(content){ + typeSearchIndex = JSON.parse(content); + }); + }); + }); + }); + $.get(pathtoroot + "member-search-index.zip") + .done(function() { + JSZipUtils.getBinaryContent(pathtoroot + "member-search-index.zip", function(e, data) { + JSZip.loadAsync(data).then(function(zip){ + zip.file("member-search-index.json").async("text").then(function(content){ + memberSearchIndex = JSON.parse(content); + }); + }); + }); + }); + $.get(pathtoroot + "tag-search-index.zip") + .done(function() { + JSZipUtils.getBinaryContent(pathtoroot + "tag-search-index.zip", function(e, data) { + JSZip.loadAsync(data).then(function(zip){ + zip.file("tag-search-index.json").async("text").then(function(content){ + tagSearchIndex = JSON.parse(content); + }); + }); + }); + }); + if (!moduleSearchIndex) { + createElem(doc, tag, 'module-search-index.js'); + } + if (!packageSearchIndex) { + createElem(doc, tag, 'package-search-index.js'); + } + if (!typeSearchIndex) { + createElem(doc, tag, 'type-search-index.js'); + } + if (!memberSearchIndex) { + createElem(doc, tag, 'member-search-index.js'); + } + if (!tagSearchIndex) { + createElem(doc, tag, 'tag-search-index.js'); + } + $(window).resize(function() { + $('.navPadding').css('padding-top', $('.fixedNav').css("height")); + }); +} + +function createElem(doc, tag, path) { + var script = doc.createElement(tag); + var scriptElement = doc.getElementsByTagName(tag)[0]; + script.src = pathtoroot + path; + scriptElement.parentNode.insertBefore(script, scriptElement); +} + +function show(type) { + count = 0; + for (var key in data) { + var row = document.getElementById(key); + if ((data[key] & type) !== 0) { + row.style.display = ''; + row.className = (count++ % 2) ? rowColor : altColor; + } + else + row.style.display = 'none'; + } + updateTabs(type); +} + +function updateTabs(type) { + for (var value in tabs) { + var sNode = document.getElementById(tabs[value][0]); + var spanNode = sNode.firstChild; + if (value == type) { + sNode.className = activeTableTab; + spanNode.innerHTML = tabs[value][1]; + } + else { + sNode.className = tableTab; + spanNode.innerHTML = "" + tabs[value][1] + ""; + } + } +} + +function updateModuleFrame(pFrame, cFrame) { + top.packageFrame.location = pFrame; + top.classFrame.location = cFrame; +} diff --git a/docs/java/search.js b/docs/java/search.js new file mode 100644 index 00000000..8492271e --- /dev/null +++ b/docs/java/search.js @@ -0,0 +1,326 @@ +/* + * Copyright (c) 2015, 2018, Oracle and/or its affiliates. All rights reserved. + * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER. + * + * This code is free software; you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 2 only, as + * published by the Free Software Foundation. Oracle designates this + * particular file as subject to the "Classpath" exception as provided + * by Oracle in the LICENSE file that accompanied this code. + * + * This code is distributed in the hope that it will be useful, but WITHOUT + * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * version 2 for more details (a copy is included in the LICENSE file that + * accompanied this code). + * + * You should have received a copy of the GNU General Public License version + * 2 along with this work; if not, write to the Free Software Foundation, + * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA. + * + * Please contact Oracle, 500 Oracle Parkway, Redwood Shores, CA 94065 USA + * or visit www.oracle.com if you need additional information or have any + * questions. + */ + +var noResult = {l: "No results found"}; +var catModules = "Modules"; +var catPackages = "Packages"; +var catTypes = "Types"; +var catMembers = "Members"; +var catSearchTags = "SearchTags"; +var highlight = "$&"; +var camelCaseRegexp = ""; +var secondaryMatcher = ""; +function getHighlightedText(item) { + var ccMatcher = new RegExp(camelCaseRegexp); + var label = item.replace(ccMatcher, highlight); + if (label === item) { + label = item.replace(secondaryMatcher, highlight); + } + return label; +} +function getURLPrefix(ui) { + var urlPrefix=""; + if (useModuleDirectories) { + var slash = "/"; + if (ui.item.category === catModules) { + return ui.item.l + slash; + } else if (ui.item.category === catPackages && ui.item.m) { + return ui.item.m + slash; + } else if ((ui.item.category === catTypes && ui.item.p) || ui.item.category === catMembers) { + $.each(packageSearchIndex, function(index, item) { + if (item.m && ui.item.p == item.l) { + urlPrefix = item.m + slash; + } + }); + return urlPrefix; + } else { + return urlPrefix; + } + } + return urlPrefix; +} +var watermark = 'Search'; +$(function() { + $("#search").val(''); + $("#search").prop("disabled", false); + $("#reset").prop("disabled", false); + $("#search").val(watermark).addClass('watermark'); + $("#search").blur(function() { + if ($(this).val().length == 0) { + $(this).val(watermark).addClass('watermark'); + } + }); + $("#search").on('click keydown', function() { + if ($(this).val() == watermark) { + $(this).val('').removeClass('watermark'); + } + }); + $("#reset").click(function() { + $("#search").val(''); + $("#search").focus(); + }); + $("#search").focus(); + $("#search")[0].setSelectionRange(0, 0); +}); +$.widget("custom.catcomplete", $.ui.autocomplete, { + _create: function() { + this._super(); + this.widget().menu("option", "items", "> :not(.ui-autocomplete-category)"); + }, + _renderMenu: function(ul, items) { + var rMenu = this, + currentCategory = ""; + rMenu.menu.bindings = $(); + $.each(items, function(index, item) { + var li; + if (item.l !== noResult.l && item.category !== currentCategory) { + ul.append("
  • " + item.category + "
    • "); + currentCategory = item.category; + } + li = rMenu._renderItemData(ul, item); + if (item.category) { + li.attr("aria-label", item.category + " : " + item.l); + li.attr("class", "resultItem"); + } else { + li.attr("aria-label", item.l); + li.attr("class", "resultItem"); + } + }); + }, + _renderItem: function(ul, item) { + var label = ""; + if (item.category === catModules) { + label = getHighlightedText(item.l); + } else if (item.category === catPackages) { + label = (item.m) + ? getHighlightedText(item.m + "/" + item.l) + : getHighlightedText(item.l); + } else if (item.category === catTypes) { + label = (item.p) + ? getHighlightedText(item.p + "." + item.l) + : getHighlightedText(item.l); + } else if (item.category === catMembers) { + label = getHighlightedText(item.p + "." + (item.c + "." + item.l)); + } else if (item.category === catSearchTags) { + label = getHighlightedText(item.l); + } else { + label = item.l; + } + var li = $("
  • ").appendTo(ul); + var div = $("
    ").appendTo(li); + if (item.category === catSearchTags) { + if (item.d) { + div.html(label + " (" + item.h + ")
    " + + item.d + "
    "); + } else { + div.html(label + " (" + item.h + ")"); + } + } else { + div.html(label); + } + return li; + } +}); +$(function() { + $("#search").catcomplete({ + minLength: 1, + delay: 100, + source: function(request, response) { + var result = new Array(); + var presult = new Array(); + var tresult = new Array(); + var mresult = new Array(); + var tgresult = new Array(); + var secondaryresult = new Array(); + var displayCount = 0; + var exactMatcher = new RegExp("^" + $.ui.autocomplete.escapeRegex(request.term) + "$", "i"); + camelCaseRegexp = ($.ui.autocomplete.escapeRegex(request.term)).split(/(?=[A-Z])/).join("([a-z0-9_$]*?)"); + var camelCaseMatcher = new RegExp("^" + camelCaseRegexp); + secondaryMatcher = new RegExp($.ui.autocomplete.escapeRegex(request.term), "i"); + + // Return the nested innermost name from the specified object + function nestedName(e) { + return e.l.substring(e.l.lastIndexOf(".") + 1); + } + + function concatResults(a1, a2) { + a1 = a1.concat(a2); + a2.length = 0; + return a1; + } + + if (moduleSearchIndex) { + var mdleCount = 0; + $.each(moduleSearchIndex, function(index, item) { + item.category = catModules; + if (exactMatcher.test(item.l)) { + result.push(item); + mdleCount++; + } else if (camelCaseMatcher.test(item.l)) { + result.push(item); + } else if (secondaryMatcher.test(item.l)) { + secondaryresult.push(item); + } + }); + displayCount = mdleCount; + result = concatResults(result, secondaryresult); + } + if (packageSearchIndex) { + var pCount = 0; + var pkg = ""; + $.each(packageSearchIndex, function(index, item) { + item.category = catPackages; + pkg = (item.m) + ? (item.m + "/" + item.l) + : item.l; + if (exactMatcher.test(item.l)) { + presult.push(item); + pCount++; + } else if (camelCaseMatcher.test(pkg)) { + presult.push(item); + } else if (secondaryMatcher.test(pkg)) { + secondaryresult.push(item); + } + }); + result = result.concat(concatResults(presult, secondaryresult)); + displayCount = (pCount > displayCount) ? pCount : displayCount; + } + if (typeSearchIndex) { + var tCount = 0; + $.each(typeSearchIndex, function(index, item) { + item.category = catTypes; + var s = nestedName(item); + if (exactMatcher.test(s)) { + tresult.push(item); + tCount++; + } else if (camelCaseMatcher.test(s)) { + tresult.push(item); + } else if (secondaryMatcher.test(item.p + "." + item.l)) { + secondaryresult.push(item); + } + }); + result = result.concat(concatResults(tresult, secondaryresult)); + displayCount = (tCount > displayCount) ? tCount : displayCount; + } + if (memberSearchIndex) { + var mCount = 0; + $.each(memberSearchIndex, function(index, item) { + item.category = catMembers; + var s = nestedName(item); + if (exactMatcher.test(s)) { + mresult.push(item); + mCount++; + } else if (camelCaseMatcher.test(s)) { + mresult.push(item); + } else if (secondaryMatcher.test(item.c + "." + item.l)) { + secondaryresult.push(item); + } + }); + result = result.concat(concatResults(mresult, secondaryresult)); + displayCount = (mCount > displayCount) ? mCount : displayCount; + } + if (tagSearchIndex) { + var tgCount = 0; + $.each(tagSearchIndex, function(index, item) { + item.category = catSearchTags; + if (exactMatcher.test(item.l)) { + tgresult.push(item); + tgCount++; + } else if (secondaryMatcher.test(item.l)) { + secondaryresult.push(item); + } + }); + result = result.concat(concatResults(tgresult, secondaryresult)); + displayCount = (tgCount > displayCount) ? tgCount : displayCount; + } + displayCount = (displayCount > 500) ? displayCount : 500; + var counter = function() { + var count = {Modules: 0, Packages: 0, Types: 0, Members: 0, SearchTags: 0}; + var f = function(item) { + count[item.category] += 1; + return (count[item.category] <= displayCount); + }; + return f; + }(); + response(result.filter(counter)); + }, + response: function(event, ui) { + if (!ui.content.length) { + ui.content.push(noResult); + } else { + $("#search").empty(); + } + }, + autoFocus: true, + position: { + collision: "flip" + }, + select: function(event, ui) { + if (ui.item.l !== noResult.l) { + var url = getURLPrefix(ui); + if (ui.item.category === catModules) { + if (useModuleDirectories) { + url += "module-summary.html"; + } else { + url = ui.item.l + "-summary.html"; + } + } else if (ui.item.category === catPackages) { + if (ui.item.url) { + url = ui.item.url; + } else { + url += ui.item.l.replace(/\./g, '/') + "/package-summary.html"; + } + } else if (ui.item.category === catTypes) { + if (ui.item.url) { + url = ui.item.url; + } else if (ui.item.p === "") { + url += ui.item.l + ".html"; + } else { + url += ui.item.p.replace(/\./g, '/') + "/" + ui.item.l + ".html"; + } + } else if (ui.item.category === catMembers) { + if (ui.item.p === "") { + url += ui.item.c + ".html" + "#"; + } else { + url += ui.item.p.replace(/\./g, '/') + "/" + ui.item.c + ".html" + "#"; + } + if (ui.item.url) { + url += ui.item.url; + } else { + url += ui.item.l; + } + } else if (ui.item.category === catSearchTags) { + url += ui.item.u; + } + if (top !== window) { + parent.classFrame.location = pathtoroot + url; + } else { + window.location.href = pathtoroot + url; + } + $("#search").focus(); + } + } + }); +}); diff --git a/docs/java/serialized-form.html b/docs/java/serialized-form.html new file mode 100644 index 00000000..56617c21 --- /dev/null +++ b/docs/java/serialized-form.html @@ -0,0 +1,161 @@ + + + + + +Serialized Form (pathplannerlib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Serialized Form

    +
    +
    + +
    +
    + + + diff --git a/docs/java/stylesheet.css b/docs/java/stylesheet.css new file mode 100644 index 00000000..de945eda --- /dev/null +++ b/docs/java/stylesheet.css @@ -0,0 +1,910 @@ +/* + * Javadoc style sheet + */ + +@import url('resources/fonts/dejavu.css'); + +/* + * Styles for individual HTML elements. + * + * These are styles that are specific to individual HTML elements. Changing them affects the style of a particular + * HTML element throughout the page. + */ + +body { + background-color:#ffffff; + color:#353833; + font-family:'DejaVu Sans', Arial, Helvetica, sans-serif; + font-size:14px; + margin:0; + padding:0; + height:100%; + width:100%; +} +iframe { + margin:0; + padding:0; + height:100%; + width:100%; + overflow-y:scroll; + border:none; +} +a:link, a:visited { + text-decoration:none; + color:#4A6782; +} +a[href]:hover, a[href]:focus { + text-decoration:none; + color:#bb7a2a; +} +a[name] { + color:#353833; +} +a[name]:before, a[name]:target, a[id]:before, a[id]:target { + content:""; + display:inline-block; + position:relative; + padding-top:129px; + margin-top:-129px; +} +pre { + font-family:'DejaVu Sans Mono', monospace; + font-size:14px; +} +h1 { + font-size:20px; +} +h2 { + font-size:18px; +} +h3 { + font-size:16px; + font-style:italic; +} +h4 { + font-size:13px; +} +h5 { + font-size:12px; +} +h6 { + font-size:11px; +} +ul { + list-style-type:disc; +} +code, tt { + font-family:'DejaVu Sans Mono', monospace; + font-size:14px; + padding-top:4px; + margin-top:8px; + line-height:1.4em; +} +dt code { + font-family:'DejaVu Sans Mono', monospace; + font-size:14px; + padding-top:4px; +} +table tr td dt code { + font-family:'DejaVu Sans Mono', monospace; + font-size:14px; + vertical-align:top; + padding-top:4px; +} +sup { + font-size:8px; +} + +/* + * Styles for HTML generated by javadoc. + * + * These are style classes that are used by the standard doclet to generate HTML documentation. + */ + +/* + * Styles for document title and copyright. + */ +.clear { + clear:both; + height:0px; + overflow:hidden; +} +.aboutLanguage { + float:right; + padding:0px 21px; + font-size:11px; + z-index:200; + margin-top:-9px; +} +.legalCopy { + margin-left:.5em; +} +.bar a, .bar a:link, .bar a:visited, .bar a:active { + color:#FFFFFF; + text-decoration:none; +} +.bar a:hover, .bar a:focus { + color:#bb7a2a; +} +.tab { + background-color:#0066FF; + color:#ffffff; + padding:8px; + width:5em; + font-weight:bold; +} +/* + * Styles for navigation bar. + */ +.bar { + background-color:#4D7A97; + color:#FFFFFF; + padding:.8em .5em .4em .8em; + height:auto;/*height:1.8em;*/ + font-size:11px; + margin:0; +} +.navPadding { + padding-top: 107px; +} +.fixedNav { + position:fixed; + width:100%; + z-index:999; + background-color:#ffffff; +} +.topNav { + background-color:#4D7A97; + color:#FFFFFF; + float:left; + padding:0; + width:100%; + clear:right; + height:2.8em; + padding-top:10px; + overflow:hidden; + font-size:12px; +} +.bottomNav { + margin-top:10px; + background-color:#4D7A97; + color:#FFFFFF; + float:left; + padding:0; + width:100%; + clear:right; + height:2.8em; + padding-top:10px; + overflow:hidden; + font-size:12px; +} +.subNav { + background-color:#dee3e9; + float:left; + width:100%; + overflow:hidden; + font-size:12px; +} +.subNav div { + clear:left; + float:left; + padding:0 0 5px 6px; + text-transform:uppercase; +} +ul.navList, ul.subNavList { + float:left; + margin:0 25px 0 0; + padding:0; +} +ul.navList li{ + list-style:none; + float:left; + padding: 5px 6px; + text-transform:uppercase; +} +ul.navListSearch { + float:right; + margin:0 0 0 0; + padding:0; +} +ul.navListSearch li { + list-style:none; + float:right; + padding: 5px 6px; + text-transform:uppercase; +} +ul.navListSearch li label { + position:relative; + right:-16px; +} +ul.subNavList li { + list-style:none; + float:left; +} +.topNav a:link, .topNav a:active, .topNav a:visited, .bottomNav a:link, .bottomNav a:active, .bottomNav a:visited { + color:#FFFFFF; + text-decoration:none; + text-transform:uppercase; +} +.topNav a:hover, .bottomNav a:hover { + text-decoration:none; + color:#bb7a2a; + text-transform:uppercase; +} +.navBarCell1Rev { + background-color:#F8981D; + color:#253441; + margin: auto 5px; +} +.skipNav { + position:absolute; + top:auto; + left:-9999px; + overflow:hidden; +} +/* + * Styles for page header and footer. + */ +.header, .footer { + clear:both; + margin:0 20px; + padding:5px 0 0 0; +} +.indexNav { + position:relative; + font-size:12px; + background-color:#dee3e9; +} +.indexNav ul { + margin-top:0; + padding:5px; +} +.indexNav ul li { + display:inline; + list-style-type:none; + padding-right:10px; + text-transform:uppercase; +} +.indexNav h1 { + font-size:13px; +} +.title { + color:#2c4557; + margin:10px 0; +} +.subTitle { + margin:5px 0 0 0; +} +.header ul { + margin:0 0 15px 0; + padding:0; +} +.footer ul { + margin:20px 0 5px 0; +} +.header ul li, .footer ul li { + list-style:none; + font-size:13px; +} +/* + * Styles for headings. + */ +div.details ul.blockList ul.blockList ul.blockList li.blockList h4, div.details ul.blockList ul.blockList ul.blockListLast li.blockList h4 { + background-color:#dee3e9; + border:1px solid #d0d9e0; + margin:0 0 6px -8px; + padding:7px 5px; +} +ul.blockList ul.blockList ul.blockList li.blockList h3 { + background-color:#dee3e9; + border:1px solid #d0d9e0; + margin:0 0 6px -8px; + padding:7px 5px; +} +ul.blockList ul.blockList li.blockList h3 { + padding:0; + margin:15px 0; +} +ul.blockList li.blockList h2 { + padding:0px 0 20px 0; +} +/* + * Styles for page layout containers. + */ +.contentContainer, .sourceContainer, .classUseContainer, .serializedFormContainer, .constantValuesContainer, +.allClassesContainer, .allPackagesContainer { + clear:both; + padding:10px 20px; + position:relative; +} +.indexContainer { + margin:10px; + position:relative; + font-size:12px; +} +.indexContainer h2 { + font-size:13px; + padding:0 0 3px 0; +} +.indexContainer ul { + margin:0; + padding:0; +} +.indexContainer ul li { + list-style:none; + padding-top:2px; +} +.contentContainer .description dl dt, .contentContainer .details dl dt, .serializedFormContainer dl dt { + font-size:12px; + font-weight:bold; + margin:10px 0 0 0; + color:#4E4E4E; +} +.contentContainer .description dl dd, .contentContainer .details dl dd, .serializedFormContainer dl dd { + margin:5px 0 10px 0px; + font-size:14px; + font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif; +} +.serializedFormContainer dl.nameValue dt { + margin-left:1px; + font-size:1.1em; + display:inline; + font-weight:bold; +} +.serializedFormContainer dl.nameValue dd { + margin:0 0 0 1px; + font-size:1.1em; + display:inline; +} +/* + * Styles for lists. + */ +li.circle { + list-style:circle; +} +ul.horizontal li { + display:inline; + font-size:0.9em; +} +ul.inheritance { + margin:0; + padding:0; +} +ul.inheritance li { + display:inline; + list-style:none; +} +ul.inheritance li ul.inheritance { + margin-left:15px; + padding-left:15px; + padding-top:1px; +} +ul.blockList, ul.blockListLast { + margin:10px 0 10px 0; + padding:0; +} +ul.blockList li.blockList, ul.blockListLast li.blockList { + list-style:none; + margin-bottom:15px; + line-height:1.4; +} +ul.blockList ul.blockList li.blockList, ul.blockList ul.blockListLast li.blockList { + padding:0px 20px 5px 10px; + border:1px solid #ededed; + background-color:#f8f8f8; +} +ul.blockList ul.blockList ul.blockList li.blockList, ul.blockList ul.blockList ul.blockListLast li.blockList { + padding:0 0 5px 8px; + background-color:#ffffff; + border:none; +} +ul.blockList ul.blockList ul.blockList ul.blockList li.blockList { + margin-left:0; + padding-left:0; + padding-bottom:15px; + border:none; +} +ul.blockList ul.blockList ul.blockList ul.blockList li.blockListLast { + list-style:none; + border-bottom:none; + padding-bottom:0; +} +table tr td dl, table tr td dl dt, table tr td dl dd { + margin-top:0; + margin-bottom:1px; +} +/* + * Styles for tables. + */ +.overviewSummary, .memberSummary, .typeSummary, .useSummary, .constantsSummary, .deprecatedSummary, +.requiresSummary, .packagesSummary, .providesSummary, .usesSummary { + width:100%; + border-spacing:0; + border-left:1px solid #EEE; + border-right:1px solid #EEE; + border-bottom:1px solid #EEE; +} +.overviewSummary, .memberSummary, .requiresSummary, .packagesSummary, .providesSummary, .usesSummary { + padding:0px; +} +.overviewSummary caption, .memberSummary caption, .typeSummary caption, +.useSummary caption, .constantsSummary caption, .deprecatedSummary caption, +.requiresSummary caption, .packagesSummary caption, .providesSummary caption, .usesSummary caption { + position:relative; + text-align:left; + background-repeat:no-repeat; + color:#253441; + font-weight:bold; + clear:none; + overflow:hidden; + padding:0px; + padding-top:10px; + padding-left:1px; + margin:0px; + white-space:pre; +} +.constantsSummary caption a:link, .constantsSummary caption a:visited, +.useSummary caption a:link, .useSummary caption a:visited { + color:#1f389c; +} +.overviewSummary caption a:link, .memberSummary caption a:link, .typeSummary caption a:link, +.deprecatedSummary caption a:link, +.requiresSummary caption a:link, .packagesSummary caption a:link, .providesSummary caption a:link, +.usesSummary caption a:link, +.overviewSummary caption a:hover, .memberSummary caption a:hover, .typeSummary caption a:hover, +.useSummary caption a:hover, .constantsSummary caption a:hover, .deprecatedSummary caption a:hover, +.requiresSummary caption a:hover, .packagesSummary caption a:hover, .providesSummary caption a:hover, +.usesSummary caption a:hover, +.overviewSummary caption a:active, .memberSummary caption a:active, .typeSummary caption a:active, +.useSummary caption a:active, .constantsSummary caption a:active, .deprecatedSummary caption a:active, +.requiresSummary caption a:active, .packagesSummary caption a:active, .providesSummary caption a:active, +.usesSummary caption a:active, +.overviewSummary caption a:visited, .memberSummary caption a:visited, .typeSummary caption a:visited, +.deprecatedSummary caption a:visited, +.requiresSummary caption a:visited, .packagesSummary caption a:visited, .providesSummary caption a:visited, +.usesSummary caption a:visited { + color:#FFFFFF; +} +.overviewSummary caption span, .memberSummary caption span, .typeSummary caption span, +.useSummary caption span, .constantsSummary caption span, .deprecatedSummary caption span, +.requiresSummary caption span, .packagesSummary caption span, .providesSummary caption span, +.usesSummary caption span { + white-space:nowrap; + padding-top:5px; + padding-left:12px; + padding-right:12px; + padding-bottom:7px; + display:inline-block; + float:left; + background-color:#F8981D; + border: none; + height:16px; +} +.memberSummary caption span.activeTableTab span, .packagesSummary caption span.activeTableTab span, +.overviewSummary caption span.activeTableTab span, .typeSummary caption span.activeTableTab span { + white-space:nowrap; + padding-top:5px; + padding-left:12px; + padding-right:12px; + margin-right:3px; + display:inline-block; + float:left; + background-color:#F8981D; + height:16px; +} +.memberSummary caption span.tableTab span, .packagesSummary caption span.tableTab span, +.overviewSummary caption span.tableTab span, .typeSummary caption span.tableTab span { + white-space:nowrap; + padding-top:5px; + padding-left:12px; + padding-right:12px; + margin-right:3px; + display:inline-block; + float:left; + background-color:#4D7A97; + height:16px; +} +.memberSummary caption span.tableTab, .memberSummary caption span.activeTableTab, +.packagesSummary caption span.tableTab, .packagesSummary caption span.activeTableTab, +.overviewSummary caption span.tableTab, .overviewSummary caption span.activeTableTab, +.typeSummary caption span.tableTab, .typeSummary caption span.activeTableTab { + padding-top:0px; + padding-left:0px; + padding-right:0px; + background-image:none; + float:none; + display:inline; +} +.overviewSummary .tabEnd, .memberSummary .tabEnd, .typeSummary .tabEnd, +.useSummary .tabEnd, .constantsSummary .tabEnd, .deprecatedSummary .tabEnd, +.requiresSummary .tabEnd, .packagesSummary .tabEnd, .providesSummary .tabEnd, .usesSummary .tabEnd { + display:none; + width:5px; + position:relative; + float:left; + background-color:#F8981D; +} +.memberSummary .activeTableTab .tabEnd, .packagesSummary .activeTableTab .tabEnd, +.overviewSummary .activeTableTab .tabEnd, .typeSummary .activeTableTab .tabEnd { + display:none; + width:5px; + margin-right:3px; + position:relative; + float:left; + background-color:#F8981D; +} +.memberSummary .tableTab .tabEnd, .packagesSummary .tableTab .tabEnd, +.overviewSummary .tableTab .tabEnd, .typeSummary .tableTab .tabEnd { + display:none; + width:5px; + margin-right:3px; + position:relative; + background-color:#4D7A97; + float:left; +} +.rowColor th, .altColor th { + font-weight:normal; +} +.overviewSummary td, .memberSummary td, .typeSummary td, +.useSummary td, .constantsSummary td, .deprecatedSummary td, +.requiresSummary td, .packagesSummary td, .providesSummary td, .usesSummary td { + text-align:left; + padding:0px 0px 12px 10px; +} +th.colFirst, th.colSecond, th.colLast, th.colConstructorName, th.colDeprecatedItemName, .useSummary th, +.constantsSummary th, .packagesSummary th, td.colFirst, td.colSecond, td.colLast, .useSummary td, +.constantsSummary td { + vertical-align:top; + padding-right:0px; + padding-top:8px; + padding-bottom:3px; +} +th.colFirst, th.colSecond, th.colLast, th.colConstructorName, th.colDeprecatedItemName, .constantsSummary th, +.packagesSummary th { + background:#dee3e9; + text-align:left; + padding:8px 3px 3px 7px; +} +td.colFirst, th.colFirst { + font-size:13px; +} +td.colSecond, th.colSecond, td.colLast, th.colConstructorName, th.colDeprecatedItemName, th.colLast { + font-size:13px; +} +.constantsSummary th, .packagesSummary th { + font-size:13px; +} +.providesSummary th.colFirst, .providesSummary th.colLast, .providesSummary td.colFirst, +.providesSummary td.colLast { + white-space:normal; + font-size:13px; +} +.overviewSummary td.colFirst, .overviewSummary th.colFirst, +.requiresSummary td.colFirst, .requiresSummary th.colFirst, +.packagesSummary td.colFirst, .packagesSummary td.colSecond, .packagesSummary th.colFirst, .packagesSummary th, +.usesSummary td.colFirst, .usesSummary th.colFirst, +.providesSummary td.colFirst, .providesSummary th.colFirst, +.memberSummary td.colFirst, .memberSummary th.colFirst, +.memberSummary td.colSecond, .memberSummary th.colSecond, .memberSummary th.colConstructorName, +.typeSummary td.colFirst, .typeSummary th.colFirst { + vertical-align:top; +} +.packagesSummary th.colLast, .packagesSummary td.colLast { + white-space:normal; +} +td.colFirst a:link, td.colFirst a:visited, +td.colSecond a:link, td.colSecond a:visited, +th.colFirst a:link, th.colFirst a:visited, +th.colSecond a:link, th.colSecond a:visited, +th.colConstructorName a:link, th.colConstructorName a:visited, +th.colDeprecatedItemName a:link, th.colDeprecatedItemName a:visited, +.constantValuesContainer td a:link, .constantValuesContainer td a:visited, +.allClassesContainer td a:link, .allClassesContainer td a:visited, +.allPackagesContainer td a:link, .allPackagesContainer td a:visited { + font-weight:bold; +} +.tableSubHeadingColor { + background-color:#EEEEFF; +} +.altColor, .altColor th { + background-color:#FFFFFF; +} +.rowColor, .rowColor th { + background-color:#EEEEEF; +} +/* + * Styles for contents. + */ +.description pre { + margin-top:0; +} +.deprecatedContent { + margin:0; + padding:10px 0; +} +.docSummary { + padding:0; +} +ul.blockList ul.blockList ul.blockList li.blockList h3 { + font-style:normal; +} +div.block { + font-size:14px; + font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif; +} +td.colLast div { + padding-top:0px; +} +td.colLast a { + padding-bottom:3px; +} +/* + * Styles for formatting effect. + */ +.sourceLineNo { + color:green; + padding:0 30px 0 0; +} +h1.hidden { + visibility:hidden; + overflow:hidden; + font-size:10px; +} +.block { + display:block; + margin:3px 10px 2px 0px; + color:#474747; +} +.deprecatedLabel, .descfrmTypeLabel, .implementationLabel, .memberNameLabel, .memberNameLink, +.moduleLabelInPackage, .moduleLabelInType, .overrideSpecifyLabel, .packageLabelInType, +.packageHierarchyLabel, .paramLabel, .returnLabel, .seeLabel, .simpleTagLabel, +.throwsLabel, .typeNameLabel, .typeNameLink, .searchTagLink { + font-weight:bold; +} +.deprecationComment, .emphasizedPhrase, .interfaceName { + font-style:italic; +} +.deprecationBlock { + font-size:14px; + font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif; + border-style:solid; + border-width:thin; + border-radius:10px; + padding:10px; + margin-bottom:10px; + margin-right:10px; + display:inline-block; +} +div.block div.deprecationComment, div.block div.block span.emphasizedPhrase, +div.block div.block span.interfaceName { + font-style:normal; +} +div.contentContainer ul.blockList li.blockList h2 { + padding-bottom:0px; +} +/* + * Styles for IFRAME. + */ +.mainContainer { + margin:0 auto; + padding:0; + height:100%; + width:100%; + position:fixed; + top:0; + left:0; +} +.leftContainer { + height:100%; + position:fixed; + width:320px; +} +.leftTop { + position:relative; + float:left; + width:315px; + top:0; + left:0; + height:30%; + border-right:6px solid #ccc; + border-bottom:6px solid #ccc; +} +.leftBottom { + position:relative; + float:left; + width:315px; + bottom:0; + left:0; + height:70%; + border-right:6px solid #ccc; + border-top:1px solid #000; +} +.rightContainer { + position:absolute; + left:320px; + top:0; + bottom:0; + height:100%; + right:0; + border-left:1px solid #000; +} +.rightIframe { + margin:0; + padding:0; + height:100%; + right:30px; + width:100%; + overflow:visible; + margin-bottom:30px; +} +/* + * Styles specific to HTML5 elements. + */ +main, nav, header, footer, section { + display:block; +} +/* + * Styles for javadoc search. + */ +.ui-autocomplete-category { + font-weight:bold; + font-size:15px; + padding:7px 0 7px 3px; + background-color:#4D7A97; + color:#FFFFFF; +} +.resultItem { + font-size:13px; +} +.ui-autocomplete { + max-height:85%; + max-width:65%; + overflow-y:scroll; + overflow-x:scroll; + white-space:nowrap; + box-shadow: 0 3px 6px rgba(0,0,0,0.16), 0 3px 6px rgba(0,0,0,0.23); +} +ul.ui-autocomplete { + position:fixed; + z-index:999999; + background-color: #FFFFFF; +} +ul.ui-autocomplete li { + float:left; + clear:both; + width:100%; +} +.resultHighlight { + font-weight:bold; +} +.ui-autocomplete .result-item { + font-size: inherit; +} +#search { + background-image:url('resources/glass.png'); + background-size:13px; + background-repeat:no-repeat; + background-position:2px 3px; + padding-left:20px; + position:relative; + right:-18px; +} +#reset { + background-color: rgb(255,255,255); + background-image:url('resources/x.png'); + background-position:center; + background-repeat:no-repeat; + background-size:12px; + border:0 none; + width:16px; + height:17px; + position:relative; + left:-4px; + top:-4px; + font-size:0px; +} +.watermark { + color:#545454; +} +.searchTagDescResult { + font-style:italic; + font-size:11px; +} +.searchTagHolderResult { + font-style:italic; + font-size:12px; +} +.searchTagResult:before, .searchTagResult:target { + color:red; +} +.moduleGraph span { + display:none; + position:absolute; +} +.moduleGraph:hover span { + display:block; + margin: -100px 0 0 100px; + z-index: 1; +} +.methodSignature { + white-space:normal; +} + +/* + * Styles for user-provided tables. + * + * borderless: + * No borders, vertical margins, styled caption. + * This style is provided for use with existing doc comments. + * In general, borderless tables should not be used for layout purposes. + * + * plain: + * Plain borders around table and cells, vertical margins, styled caption. + * Best for small tables or for complex tables for tables with cells that span + * rows and columns, when the "striped" style does not work well. + * + * striped: + * Borders around the table and vertical borders between cells, striped rows, + * vertical margins, styled caption. + * Best for tables that have a header row, and a body containing a series of simple rows. + */ + +table.borderless, +table.plain, +table.striped { + margin-top: 10px; + margin-bottom: 10px; +} +table.borderless > caption, +table.plain > caption, +table.striped > caption { + font-weight: bold; + font-size: smaller; +} +table.borderless th, table.borderless td, +table.plain th, table.plain td, +table.striped th, table.striped td { + padding: 2px 5px; +} +table.borderless, +table.borderless > thead > tr > th, table.borderless > tbody > tr > th, table.borderless > tr > th, +table.borderless > thead > tr > td, table.borderless > tbody > tr > td, table.borderless > tr > td { + border: none; +} +table.borderless > thead > tr, table.borderless > tbody > tr, table.borderless > tr { + background-color: transparent; +} +table.plain { + border-collapse: collapse; + border: 1px solid black; +} +table.plain > thead > tr, table.plain > tbody tr, table.plain > tr { + background-color: transparent; +} +table.plain > thead > tr > th, table.plain > tbody > tr > th, table.plain > tr > th, +table.plain > thead > tr > td, table.plain > tbody > tr > td, table.plain > tr > td { + border: 1px solid black; 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