wpi::math::EllipticalRegionConstraint< Constraint > Class Template Reference

Enforces a particular constraint only within an elliptical region. More...

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

Inheritance diagram for wpi::math::EllipticalRegionConstraint< Constraint >:

Public Member Functions
constexpr	EllipticalRegionConstraint (const Translation2d &center, wpi::units::meter_t xWidth, wpi::units::meter_t yWidth, const Rotation2d &rotation, const Constraint &constraint)
	Constructs a new EllipticalRegionConstraint.
constexpr	EllipticalRegionConstraint (const Ellipse2d &ellipse, const Constraint &constraint)
	Constructs a new EllipticalRegionConstraint.
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

template<std::derived_from< TrajectoryConstraint > Constraint>
class wpi::math::EllipticalRegionConstraint< Constraint >

Enforces a particular constraint only within an elliptical region.

Constructor & Destructor Documentation

EllipticalRegionConstraint() [1/2]

template<std::derived_from< TrajectoryConstraint > Constraint>

wpi::math::EllipticalRegionConstraint< Constraint >::EllipticalRegionConstraint ( const Translation2d & center, wpi::units::meter_t xWidth, wpi::units::meter_t yWidth, const Rotation2d & rotation, const Constraint & constraint )

inlineconstexpr

Constructs a new EllipticalRegionConstraint.

Parameters

center	The center of the ellipse in which to enforce the constraint.
xWidth	The width of the ellipse in which to enforce the constraint.
yWidth	The height of the ellipse in which to enforce the constraint.
rotation	The rotation to apply to all radii around the origin.
constraint	The constraint to enforce when the robot is within the region.

Deprecated

Use constructor taking Ellipse2d instead.

EllipticalRegionConstraint() [2/2]

template<std::derived_from< TrajectoryConstraint > Constraint>

wpi::math::EllipticalRegionConstraint< Constraint >::EllipticalRegionConstraint ( const Ellipse2d & ellipse, const Constraint & constraint )

inlineconstexpr

Constructs a new EllipticalRegionConstraint.

Parameters

ellipse	The ellipse in which to enforce the constraint.
constraint	The constraint to enforce when the robot is within the region.

Member Function Documentation

MaxVelocity()

template<std::derived_from< TrajectoryConstraint > Constraint>

wpi::units::meters_per_second_t wpi::math::EllipticalRegionConstraint< Constraint >::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()

template<std::derived_from< TrajectoryConstraint > Constraint>

MinMax wpi::math::EllipticalRegionConstraint< Constraint >::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/EllipticalRegionConstraint.hpp