frc971/control_loops/drivetrain/trajectory.fbs

include "frc971/control_loops/control_loops.fbs";

namespace frc971.control_loops.drivetrain.fb;

enum SegmentConstraint : byte {
  VELOCITY_LIMITED,
  CURVATURE_LIMITED,
  ACCELERATION_LIMITED,
  DECELERATION_LIMITED,
  VOLTAGE_LIMITED,
}

table PlanPoint {
  // Distance along the path of this point.
  distance: float (id: 0);
  velocity: float (id: 1);
  segment_constraint: SegmentConstraint (id: 2);
}

table GainPoint {
  distance: float (id: 0);
  // Column-major matrix (should be 2 rows x 5 columns).
  gains: [float] (id: 1);
}

table DistanceSpline {
  spline:frc971.MultiSpline (id: 0);
  distances:[float] (id: 1);
}

table Trajectory {
  // Unique ID of the trajectory, same as that defined in the SplineGoal.
  handle:int (id: 0);
  // Spline plan, indexed on distance.
  distance_based_plan : [PlanPoint] (id : 1);
  // Gains, indexed on time.
  gains: [GainPoint] (id: 2);
  spline:DistanceSpline (id: 3);

  // Whether to follow the spline driving forwards or backwards.
  drive_spline_backwards:bool (id: 4);
}

root_type Trajectory;