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

Class DifferentialDriveKinematicsConstraint

java.lang.Object

edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConstraint

All Implemented Interfaces:

TrajectoryConstraint

public class DifferentialDriveKinematicsConstraint
extends Object
implements TrajectoryConstraint

A class that enforces constraints on the differential drive kinematics. This can be used to ensure that the trajectory is constructed so that the commanded velocities for both sides of the drivetrain stay below a certain limit.

Nested Class Summary

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

TrajectoryConstraint.MinMax

Constructor Summary

Constructors

Constructor	Description
DifferentialDriveKinematicsConstraint(DifferentialDriveKinematics kinematics, double maxSpeed)	Constructs a differential drive dynamics 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

DifferentialDriveKinematicsConstraint

public DifferentialDriveKinematicsConstraint(DifferentialDriveKinematics kinematics,
 double maxSpeed)

Constructs a differential drive dynamics constraint.

Parameters:

kinematics - A kinematics component describing the drive geometry.

maxSpeed - The max speed that a side of the robot can travel at in m/s.

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.