wpi::math::CentripetalAccelerationConstraint Class Reference

A constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory. More...

#include <wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp>

Inheritance diagram for wpi::math::CentripetalAccelerationConstraint:

Public Member Functions
constexpr	CentripetalAccelerationConstraint (wpi::units::meters_per_second_squared_t maxCentripetalAcceleration)
constexpr wpi::units::meters_per_second_t	MaxVelocity (const Pose2d &pose, wpi::units::curvature_t curvature, wpi::units::meters_per_second_t velocity) const override
	Returns the max velocity given the current pose and curvature.
constexpr MinMax	MinMaxAcceleration (const Pose2d &pose, wpi::units::curvature_t curvature, wpi::units::meters_per_second_t velocity) const override
	Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and velocity.
Public Member Functions inherited from wpi::math::TrajectoryConstraint
constexpr	TrajectoryConstraint ()=default
constexpr	TrajectoryConstraint (const TrajectoryConstraint &)=default
constexpr TrajectoryConstraint &	operator= (const TrajectoryConstraint &)=default
constexpr	TrajectoryConstraint (TrajectoryConstraint &&)=default
constexpr TrajectoryConstraint &	operator= (TrajectoryConstraint &&)=default
virtual constexpr	~TrajectoryConstraint ()=default

Detailed Description

A constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory.

The centripetal acceleration of a robot is defined as the velocity squared divided by the radius of curvature.

Effectively, limiting the maximum centripetal acceleration will cause the robot to slow down around tight turns, making it easier to track trajectories with sharp turns.

Constructor & Destructor Documentation

CentripetalAccelerationConstraint()

wpi::math::CentripetalAccelerationConstraint::CentripetalAccelerationConstraint ( wpi::units::meters_per_second_squared_t maxCentripetalAcceleration )

inlineexplicitconstexpr

Member Function Documentation

MaxVelocity()

wpi::units::meters_per_second_t wpi::math::CentripetalAccelerationConstraint::MaxVelocity ( const Pose2d & pose, wpi::units::curvature_t curvature, wpi::units::meters_per_second_t velocity ) const

inlineconstexproverridevirtual

Returns the max velocity given the current pose and curvature.

Parameters

pose	The pose at the current point in the trajectory.
curvature	The curvature at the current point in the trajectory.
velocity	The velocity at the current point in the trajectory before constraints are applied.

Returns

The absolute maximum velocity.

Implements wpi::math::TrajectoryConstraint.

MinMaxAcceleration()

MinMax wpi::math::CentripetalAccelerationConstraint::MinMaxAcceleration ( const Pose2d & pose, wpi::units::curvature_t curvature, wpi::units::meters_per_second_t velocity ) const

inlineconstexproverridevirtual

Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and velocity.

Parameters

pose	The pose at the current point in the trajectory.
curvature	The curvature at the current point in the trajectory.
velocity	The velocity at the current point in the trajectory.

Returns

The min and max acceleration bounds.

Implements wpi::math::TrajectoryConstraint.

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The documentation for this class was generated from the following file:

• wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp