frc::Trajectory::State Struct Reference

Represents one point on the trajectory. More...

#include <frc/trajectory/Trajectory.h>

Public Member Functions
constexpr bool	operator== (const State &) const =default
	Checks equality between this State and another object.
constexpr State	Interpolate (State endValue, double i) const
	Interpolates between two States.

Public Attributes
units::second_t	t = 0_s
	The time elapsed since the beginning of the trajectory.
units::meters_per_second_t	velocity = 0_mps
	The speed at that point of the trajectory.
units::meters_per_second_squared_t	acceleration = 0_mps_sq
	The acceleration at that point of the trajectory.
Pose2d	pose
	The pose at that point of the trajectory.
units::curvature_t	curvature {0.0}
	The curvature at that point of the trajectory.

Detailed Description

Represents one point on the trajectory.

Member Function Documentation

Interpolate()

State frc::Trajectory::State::Interpolate ( State endValue, double i ) const

inlineconstexpr

Interpolates between two States.

Parameters

endValue	The end value for the interpolation.
i	The interpolant (fraction).

Returns

The interpolated state.

operator==()

bool frc::Trajectory::State::operator== ( const State & ) const

constexprdefault

Checks equality between this State and another object.

Member Data Documentation

acceleration

units::meters_per_second_squared_t frc::Trajectory::State::acceleration = 0_mps_sq

The acceleration at that point of the trajectory.

curvature

units::curvature_t frc::Trajectory::State::curvature {0.0}

The curvature at that point of the trajectory.

pose

Pose2d frc::Trajectory::State::pose

The pose at that point of the trajectory.

t

units::second_t frc::Trajectory::State::t = 0_s

The time elapsed since the beginning of the trajectory.

velocity

units::meters_per_second_t frc::Trajectory::State::velocity = 0_mps

The speed at that point of the trajectory.

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

• frc/trajectory/Trajectory.h