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Update Trajectory State to support Choreo moduleForces #725

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Update Trajectory State to support Choreo moduleForces #725

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13 changes: 12 additions & 1 deletion pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
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Original file line number Diff line number Diff line change
Expand Up @@ -326,7 +326,18 @@ public static PathPlannerPath fromChoreoTrajectory(String trajectoryName) {
double xVel = ((Number) sample.get("velocityX")).doubleValue();
double yVel = ((Number) sample.get("velocityY")).doubleValue();
double angularVelRps = ((Number) sample.get("angularVelocity")).doubleValue();

JSONArray moduleForcesXArray = (JSONArray) sample.get("moduleForcesX");
List<Double> moduleForcesX = new ArrayList<>();
for (Object force : moduleForcesXArray) {
moduleForcesX.add(((Number) force).doubleValue());
}
state.moduleForcesX = Optional.of(moduleForcesX);
JSONArray moduleForcesYArray = (JSONArray) sample.get("moduleForcesY");
List<Double> moduleForcesY = new ArrayList<>();
for (Object force : moduleForcesYArray) {
moduleForcesY.add(((Number) force).doubleValue());
}
state.moduleForcesY = Optional.of(moduleForcesY);
state.timeSeconds = time;
state.linearVelocity = Math.hypot(xVel, yVel);
state.pose = new Pose2d(new Translation2d(xPos, yPos), new Rotation2d(rotationRad));
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8 changes: 7 additions & 1 deletion pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java
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@@ -1,5 +1,8 @@
package com.pathplanner.lib.trajectory;

import java.util.List;
import java.util.Optional;

import com.pathplanner.lib.path.PathConstraints;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
Expand All @@ -17,7 +20,10 @@ public class PathPlannerTrajectoryState {
public Pose2d pose = Pose2d.kZero;
/** The linear velocity at this state in m/s */
public double linearVelocity = 0.0;

/** Optional module forces in the X direction in N on each module. Module forces appear in the following order: [FL, FR, BL, BR]. Will only be provided for Choreo paths*/
public Optional<List<Double>> moduleForcesX = Optional.empty();
/** Optional module forces in the Y direction in N on each module. Module forces appear in the following order: [FL, FR, BL, BR]. Will only be provided for Choreo paths*/
public Optional<List<Double>> moduleForcesY = Optional.empty();
// Values used only during generation, these will not be interpolated
/** The field-relative heading, or direction of travel, at this state */
protected Rotation2d heading = Rotation2d.kZero;
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