wpi::math::MaxVelocityConstraint Class Reference

Represents a constraint that enforces a max velocity. More...

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

Inheritance diagram for wpi::math::MaxVelocityConstraint:

Public Member Functions
constexpr	MaxVelocityConstraint (wpi::units::meters_per_second_t maxVelocity)
	Constructs a new MaxVelocityConstraint.
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

Represents a constraint that enforces a max velocity.

This can be composed with the EllipticalRegionConstraint or RectangularRegionConstraint to enforce a max velocity within a region.

Constructor & Destructor Documentation

MaxVelocityConstraint()

wpi::math::MaxVelocityConstraint::MaxVelocityConstraint ( wpi::units::meters_per_second_t maxVelocity )

inlineexplicitconstexpr

Constructs a new MaxVelocityConstraint.

Parameters

maxVelocity

The max velocity.

Member Function Documentation

MaxVelocity()

wpi::units::meters_per_second_t wpi::math::MaxVelocityConstraint::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::MaxVelocityConstraint::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/MaxVelocityConstraint.hpp