Reefscape2025/frc.robot.utils/LocalADStarAK

LocalADStarAK

public class LocalADStarAK implements Pathfinder

A class that implements the Pathfinder interface using the LocalADStar algorithm. This class is responsible for calculating paths for a robot to follow on a field, taking into account dynamic obstacles and other constraints.

Usage in FRC: This class is used in FRC (FIRST Robotics Competition) to navigate the robot autonomously on the field. It calculates the optimal path from a start position to a goal position while avoiding obstacles. The path is updated dynamically based on the current state of the field and the robot's position.

Constructors

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public void LocalADStarAK()

Functions

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public PathPlannerPath getCurrentPath(PathConstraints constraints, GoalEndState goalEndState)
Get the most recently calculated path.
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public boolean isNewPathAvailable()
Get if a new path has been calculated since the last time a path was retrieved.
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public void setDynamicObstacles(List<Pair<Translation2d, Translation2d>> obs, Translation2d currentRobotPos)
Set the dynamic obstacles that should be avoided while pathfinding.
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public void setGoalPosition(Translation2d goalPosition)
Set the goal position to pathfind to.
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public void setStartPosition(Translation2d startPosition)
Set the start position to pathfind from.