wpi::math::TrajectoryConfig Class Reference

Represents the configuration for generating a trajectory. More...

#include <wpi/math/trajectory/TrajectoryConfig.hpp>

Public Member Functions
	TrajectoryConfig (wpi::units::meters_per_second_t maxVelocity, wpi::units::meters_per_second_squared_t maxAcceleration)
	Constructs a config object.
	TrajectoryConfig (const TrajectoryConfig &)=delete
TrajectoryConfig &	operator= (const TrajectoryConfig &)=delete
	TrajectoryConfig (TrajectoryConfig &&)=default
TrajectoryConfig &	operator= (TrajectoryConfig &&)=default
void	SetStartVelocity (wpi::units::meters_per_second_t startVelocity)
	Sets the start velocity of the trajectory.
void	SetEndVelocity (wpi::units::meters_per_second_t endVelocity)
	Sets the end velocity of the trajectory.
void	SetReversed (bool reversed)
	Sets the reversed flag of the trajectory.
template<std::derived_from< TrajectoryConstraint > Constraint>
void	AddConstraint (Constraint constraint)
	Adds a user-defined constraint to the trajectory.
void	SetKinematics (const DifferentialDriveKinematics &kinematics)
	Adds a differential drive kinematics constraint to ensure that no wheel velocity of a differential drive goes above the max velocity.
void	SetKinematics (MecanumDriveKinematics kinematics)
	Adds a mecanum drive kinematics constraint to ensure that no wheel velocity of a mecanum drive goes above the max velocity.
template<size_t NumModules>
void	SetKinematics (SwerveDriveKinematics< NumModules > &kinematics)
	Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.
wpi::units::meters_per_second_t	StartVelocity () const
	Returns the starting velocity of the trajectory.
wpi::units::meters_per_second_t	EndVelocity () const
	Returns the ending velocity of the trajectory.
wpi::units::meters_per_second_t	MaxVelocity () const
	Returns the maximum velocity of the trajectory.
wpi::units::meters_per_second_squared_t	MaxAcceleration () const
	Returns the maximum acceleration of the trajectory.
const std::vector< std::unique_ptr< TrajectoryConstraint > > &	Constraints () const
	Returns the user-defined constraints of the trajectory.
bool	IsReversed () const
	Returns whether the trajectory is reversed or not.

Detailed Description

Represents the configuration for generating a trajectory.

This class stores the start velocity, end velocity, max velocity, max acceleration, custom constraints, and the reversed flag.

The class must be constructed with a max velocity and max acceleration. The other parameters (start velocity, end velocity, constraints, reversed) have been defaulted to reasonable values (0, 0, {}, false). These values can be changed via the SetXXX methods.

Constructor & Destructor Documentation

TrajectoryConfig() [1/3]

wpi::math::TrajectoryConfig::TrajectoryConfig ( wpi::units::meters_per_second_t maxVelocity, wpi::units::meters_per_second_squared_t maxAcceleration )

inline

Constructs a config object.

Parameters

maxVelocity	The max velocity of the trajectory.
maxAcceleration	The max acceleration of the trajectory.

TrajectoryConfig() [2/3]

wpi::math::TrajectoryConfig::TrajectoryConfig ( const TrajectoryConfig & )

delete

TrajectoryConfig() [3/3]

wpi::math::TrajectoryConfig::TrajectoryConfig ( TrajectoryConfig && )

default

Member Function Documentation

AddConstraint()

template<std::derived_from< TrajectoryConstraint > Constraint>

void wpi::math::TrajectoryConfig::AddConstraint ( Constraint constraint )

inline

Adds a user-defined constraint to the trajectory.

Parameters

constraint

The user-defined constraint.

Constraints()

const std::vector< std::unique_ptr< TrajectoryConstraint > > & wpi::math::TrajectoryConfig::Constraints ( ) const

inline

Returns the user-defined constraints of the trajectory.

Returns

The user-defined constraints of the trajectory.

EndVelocity()

wpi::units::meters_per_second_t wpi::math::TrajectoryConfig::EndVelocity ( ) const

inline

Returns the ending velocity of the trajectory.

Returns

The ending velocity of the trajectory.

IsReversed()

bool wpi::math::TrajectoryConfig::IsReversed ( ) const

inline

Returns whether the trajectory is reversed or not.

Returns

whether the trajectory is reversed or not.

MaxAcceleration()

wpi::units::meters_per_second_squared_t wpi::math::TrajectoryConfig::MaxAcceleration ( ) const

inline

Returns the maximum acceleration of the trajectory.

Returns

The maximum acceleration of the trajectory.

MaxVelocity()

wpi::units::meters_per_second_t wpi::math::TrajectoryConfig::MaxVelocity ( ) const

inline

Returns the maximum velocity of the trajectory.

Returns

The maximum velocity of the trajectory.

operator=() [1/2]

TrajectoryConfig & wpi::math::TrajectoryConfig::operator= ( const TrajectoryConfig & )

delete

operator=() [2/2]

TrajectoryConfig & wpi::math::TrajectoryConfig::operator= ( TrajectoryConfig && )

default

SetEndVelocity()

void wpi::math::TrajectoryConfig::SetEndVelocity ( wpi::units::meters_per_second_t endVelocity )

inline

Sets the end velocity of the trajectory.

Parameters

endVelocity

The end velocity of the trajectory.

SetKinematics() [1/3]

void wpi::math::TrajectoryConfig::SetKinematics ( const DifferentialDriveKinematics & kinematics )

inline

Adds a differential drive kinematics constraint to ensure that no wheel velocity of a differential drive goes above the max velocity.

Parameters

kinematics

The differential drive kinematics.

SetKinematics() [2/3]

void wpi::math::TrajectoryConfig::SetKinematics ( MecanumDriveKinematics kinematics )

inline

Adds a mecanum drive kinematics constraint to ensure that no wheel velocity of a mecanum drive goes above the max velocity.

Parameters

kinematics

The mecanum drive kinematics.

SetKinematics() [3/3]

template<size_t NumModules>

void wpi::math::TrajectoryConfig::SetKinematics ( SwerveDriveKinematics< NumModules > & kinematics )

inline

Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.

Parameters

kinematics

The swerve drive kinematics.

SetReversed()

void wpi::math::TrajectoryConfig::SetReversed ( bool reversed )

inline

Sets the reversed flag of the trajectory.

Parameters

reversed

Whether the trajectory should be reversed or not.

SetStartVelocity()

void wpi::math::TrajectoryConfig::SetStartVelocity ( wpi::units::meters_per_second_t startVelocity )

inline

Sets the start velocity of the trajectory.

Parameters

startVelocity

The start velocity of the trajectory.

StartVelocity()

wpi::units::meters_per_second_t wpi::math::TrajectoryConfig::StartVelocity ( ) const

inline

Returns the starting velocity of the trajectory.

Returns

The starting velocity of the trajectory.

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

• wpi/math/trajectory/TrajectoryConfig.hpp