Package edu.wpi.first.math.trajectory.constraint

Class CentripetalAccelerationConstraint

java.lang.Object

edu.wpi.first.math.trajectory.constraint.CentripetalAccelerationConstraint

All Implemented Interfaces:

TrajectoryConstraint

public class CentripetalAccelerationConstraint
extends Object
implements TrajectoryConstraint

A constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory. The centripetal acceleration of a robot is defined as the velocity squared divided by the radius of curvature.

Effectively, limiting the maximum centripetal acceleration will cause the robot to slow down around tight turns, making it easier to track trajectories with sharp turns.

Nested Class Summary

Nested classes/interfaces inherited from interface edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint

TrajectoryConstraint.MinMax

Constructor Summary

Constructors

Constructor	Description
CentripetalAccelerationConstraint(double maxCentripetalAcceleration)	Constructs a centripetal acceleration constraint.

Method Summary

Modifier and Type	Method	Description
double	getMaxVelocity(Pose2d pose, double curvature, double velocity)	Returns the max velocity given the current pose and curvature.
TrajectoryConstraint.MinMax	getMinMaxAcceleration(Pose2d pose, double curvature, double velocity)	Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

CentripetalAccelerationConstraint

public CentripetalAccelerationConstraint(double maxCentripetalAcceleration)

Constructs a centripetal acceleration constraint.

Parameters:

maxCentripetalAcceleration - The max centripetal acceleration in m/s².

Method Details

getMaxVelocity

public double getMaxVelocity(Pose2d pose,
 double curvature,
 double velocity)

Returns the max velocity given the current pose and curvature.

Specified by:

getMaxVelocity in interface TrajectoryConstraint

Parameters:

pose - The pose at the current point in the trajectory.

curvature - The curvature at the current point in the trajectory in rad/m.

velocity - The velocity at the current point in the trajectory before constraints are applied in m/s.

Returns:

The absolute maximum velocity.

getMinMaxAcceleration

public TrajectoryConstraint.MinMax getMinMaxAcceleration(Pose2d pose,
 double curvature,
 double velocity)

Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.

Specified by:

getMinMaxAcceleration in interface TrajectoryConstraint

Parameters:

pose - The pose at the current point in the trajectory.

curvature - The curvature at the current point in the trajectory in rad/m.

velocity - The speed at the current point in the trajectory in m/s.

Returns:

The min and max acceleration bounds.