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

Class RectangularRegionConstraint

java.lang.Object

edu.wpi.first.math.trajectory.constraint.RectangularRegionConstraint

All Implemented Interfaces:

TrajectoryConstraint

public class RectangularRegionConstraint
extends Object
implements TrajectoryConstraint

Enforces a particular constraint only within a rectangular region.

Nested Class Summary

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

TrajectoryConstraint.MinMax

Constructor Summary

Constructors

Constructor	Description
RectangularRegionConstraint(Rectangle2d rectangle, TrajectoryConstraint constraint)	Constructs a new RectangularRegionConstraint.
RectangularRegionConstraint(Translation2d bottomLeftPoint, Translation2d topRightPoint, TrajectoryConstraint constraint)	Deprecated, for removal: This API element is subject to removal in a future version. Use constructor taking Rectangle2d instead.

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

RectangularRegionConstraint

@Deprecated(since="2025",
            forRemoval=true)
public RectangularRegionConstraint(Translation2d bottomLeftPoint,
 Translation2d topRightPoint,
 TrajectoryConstraint constraint)

Deprecated, for removal: This API element is subject to removal in a future version.

Use constructor taking Rectangle2d instead.

Constructs a new RectangularRegionConstraint.

Parameters:

bottomLeftPoint - The bottom left point of the rectangular region in which to enforce the constraint.

topRightPoint - The top right point of the rectangular region in which to enforce the constraint.

constraint - The constraint to enforce when the robot is within the region.

RectangularRegionConstraint

public RectangularRegionConstraint(Rectangle2d rectangle,
 TrajectoryConstraint constraint)

Constructs a new RectangularRegionConstraint.

Parameters:

rectangle - The rectangular region in which to enforce the constraint.

constraint - The constraint to enforce when the robot is within the region.

Method Details

getMaxVelocity

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

Description copied from interface: TrajectoryConstraint

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 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)

Description copied from interface: TrajectoryConstraint

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 rad/m.

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

Returns:

The min and max acceleration bounds.