Package edu.wpi.first.math.trajectory
Class TrajectoryUtil
- java.lang.Object
-
- edu.wpi.first.math.trajectory.TrajectoryUtil
-
public final class TrajectoryUtil extends Object
-
-
Nested Class Summary
Nested Classes Modifier and Type Class Description static class
TrajectoryUtil.TrajectorySerializationException
-
Method Summary
All Methods Static Methods Concrete Methods Modifier and Type Method Description static Trajectory
deserializeTrajectory(String json)
Deserializes a Trajectory from PathWeaver-style JSON.static Trajectory
fromPathweaverJson(Path path)
Imports a Trajectory from a PathWeaver-style JSON file.static String
serializeTrajectory(Trajectory trajectory)
Serializes a Trajectory to PathWeaver-style JSON.static void
toPathweaverJson(Trajectory trajectory, Path path)
Exports a Trajectory to a PathWeaver-style JSON file.
-
-
-
Method Detail
-
fromPathweaverJson
public static Trajectory fromPathweaverJson(Path path) throws IOException
Imports a Trajectory from a PathWeaver-style JSON file.- Parameters:
path
- The path of the json file to import from- Returns:
- The trajectory represented by the file.
- Throws:
IOException
- if reading from the file fails.
-
toPathweaverJson
public static void toPathweaverJson(Trajectory trajectory, Path path) throws IOException
Exports a Trajectory to a PathWeaver-style JSON file.- Parameters:
trajectory
- The trajectory to exportpath
- The path of the file to export to- Throws:
IOException
- if writing to the file fails.
-
deserializeTrajectory
public static Trajectory deserializeTrajectory(String json)
Deserializes a Trajectory from PathWeaver-style JSON.- Parameters:
json
- The string containing the serialized JSON- Returns:
- the trajectory represented by the JSON
- Throws:
TrajectoryUtil.TrajectorySerializationException
- if deserialization of the string fails.
-
serializeTrajectory
public static String serializeTrajectory(Trajectory trajectory)
Serializes a Trajectory to PathWeaver-style JSON.- Parameters:
trajectory
- The trajectory to export- Returns:
- The string containing the serialized JSON
- Throws:
TrajectoryUtil.TrajectorySerializationException
- if serialization of the trajectory fails.
-
-