wpi::math::SwerveDriveKinematicsConstraint< NumModules > Class Template Reference

A class that enforces constraints on the swerve drive kinematics. More...

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

Inheritance diagram for wpi::math::SwerveDriveKinematicsConstraint< NumModules >:

Public Member Functions
	SwerveDriveKinematicsConstraint (const wpi::math::SwerveDriveKinematics< NumModules > &kinematics, wpi::units::meters_per_second_t maxVelocity)
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.
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<size_t NumModules>
class wpi::math::SwerveDriveKinematicsConstraint< NumModules >

A class that enforces constraints on the swerve drive kinematics.

This can be used to ensure that the trajectory is constructed so that the commanded velocities of the wheels stay below a certain limit.

Constructor & Destructor Documentation

SwerveDriveKinematicsConstraint()

template<size_t NumModules>

wpi::math::SwerveDriveKinematicsConstraint< NumModules >::SwerveDriveKinematicsConstraint ( const wpi::math::SwerveDriveKinematics< NumModules > & kinematics, wpi::units::meters_per_second_t maxVelocity )

inline

Member Function Documentation

MaxVelocity()

template<size_t NumModules>

wpi::units::meters_per_second_t wpi::math::SwerveDriveKinematicsConstraint< NumModules >::MaxVelocity ( const Pose2d & pose, wpi::units::curvature_t curvature, wpi::units::meters_per_second_t velocity ) const

inlineoverridevirtual

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<size_t NumModules>

MinMax wpi::math::SwerveDriveKinematicsConstraint< NumModules >::MinMaxAcceleration ( const Pose2d & pose, wpi::units::curvature_t curvature, wpi::units::meters_per_second_t velocity ) const

inlineoverridevirtual

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/SwerveDriveKinematicsConstraint.hpp