wpi::math::TrajectoryConstraint Class Reference

An interface for defining user-defined velocity and acceleration constraints while generating trajectories. More...

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

Inheritance diagram for wpi::math::TrajectoryConstraint:

Classes
struct	MinMax
	Represents a minimum and maximum acceleration. More...

Public Member Functions
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
virtual constexpr wpi::units::meters_per_second_t	MaxVelocity (const Pose2d &pose, wpi::units::curvature_t curvature, wpi::units::meters_per_second_t velocity) const =0
	Returns the max velocity given the current pose and curvature.
virtual constexpr MinMax	MinMaxAcceleration (const Pose2d &pose, wpi::units::curvature_t curvature, wpi::units::meters_per_second_t velocity) const =0
	Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and velocity.

Detailed Description

An interface for defining user-defined velocity and acceleration constraints while generating trajectories.

Constructor & Destructor Documentation

TrajectoryConstraint() [1/3]

wpi::math::TrajectoryConstraint::TrajectoryConstraint ( )

constexprdefault

TrajectoryConstraint() [2/3]

wpi::math::TrajectoryConstraint::TrajectoryConstraint ( const TrajectoryConstraint & )

constexprdefault

TrajectoryConstraint() [3/3]

wpi::math::TrajectoryConstraint::TrajectoryConstraint ( TrajectoryConstraint && )

constexprdefault

~TrajectoryConstraint()

virtual constexpr wpi::math::TrajectoryConstraint::~TrajectoryConstraint ( )

constexprvirtualdefault

Member Function Documentation

MaxVelocity()

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

constexprpure virtual

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.

Implemented in wpi::math::CentripetalAccelerationConstraint, wpi::math::DifferentialDriveKinematicsConstraint, wpi::math::DifferentialDriveVoltageConstraint, wpi::math::EllipticalRegionConstraint< Constraint >, wpi::math::MaxVelocityConstraint, wpi::math::MecanumDriveKinematicsConstraint, wpi::math::RectangularRegionConstraint< Constraint >, and wpi::math::SwerveDriveKinematicsConstraint< NumModules >.

MinMaxAcceleration()

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

constexprpure virtual

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.

Implemented in wpi::math::CentripetalAccelerationConstraint, wpi::math::DifferentialDriveKinematicsConstraint, wpi::math::DifferentialDriveVoltageConstraint, wpi::math::EllipticalRegionConstraint< Constraint >, wpi::math::MaxVelocityConstraint, wpi::math::MecanumDriveKinematicsConstraint, wpi::math::RectangularRegionConstraint< Constraint >, and wpi::math::SwerveDriveKinematicsConstraint< NumModules >.

operator=() [1/2]

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

constexprdefault

operator=() [2/2]

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

constexprdefault

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

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