:py:mod:`phoenix6.swerve.utility.linear_path`
=============================================

.. py:module:: phoenix6.swerve.utility.linear_path

Module Contents
---------------


.. py:class:: LinearPath(linear: wpimath.TrapezoidProfile.Constraints, angular: wpimath.TrapezoidProfile.Constraints)


   A linear path for a holonomic drivetrain (i.e. swerve or mechanum).
   This generates profiled setpoints for the robot along a straight line
   based on trapezoidal velocity constraints (using TrapezoidProfile).

   Initialization::

       path = LinearPath(
           TrapezoidProfile.Constraints(kMaxV, kMaxA),
           TrapezoidProfile.Constraints(kMaxOmega, kMaxAlpha)
       )
       current = LinearPath.State(initialPose, initialFieldVelocity)

   Run on update::

       current = path.calculate(timeSincePreviousUpdate, current, targetPose)

   Constructs a linear path.

   :param linear: The constraints on the profile linear motion
   :type linear: TrapezoidProfile.Constraints
   :param angular: The constraints on the profile angular motion
   :type angular: TrapezoidProfile.Constraints

   .. py:class:: State(pose: phoenix6.swerve.utility.geometry.Pose2d = Pose2d(), velocity: phoenix6.swerve.utility.kinematics.ChassisVelocities = ChassisVelocities())


      Path state.

      .. py:attribute:: pose

         The pose at this state.


      .. py:attribute:: velocity

         The field-centric velocity at this state.



   .. py:method:: calculate(t: wpimath.units.seconds, current: State, goal: phoenix6.swerve.utility.geometry.Pose2d) -> State

      Calculates the pose and velocity of the path at a time t where
      the current state is at t = 0.

      :param t: How long to advance from the current state to the desired state
      :type t: units.seconds
      :param current: The current state
      :type current: State
      :param goal: The desired pose when the path is complete
      :type goal: Pose2d
      :returns: The pose and velocity of the profile at time t
      :rtype: State


   .. py:method:: total_time() -> wpimath.units.seconds

      Returns the total time the profile takes to reach the goal.

      :returns: The total time the profile takes to reach the goal
      :rtype: units.seconds


   .. py:method:: is_finished(t: wpimath.units.seconds) -> bool

      Returns true if the profile has reached the goal.

      The profile has reached the goal if the time since the profile
      started has exceeded the profile's total time.

      :param t: The time since the beginning of the profile
      :type t: units.seconds
      :returns: True if the profile has reached the goal
      :rtype: bool