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

Interface TrajectoryConstraint

All Known Implementing Classes:

CentripetalAccelerationConstraint, DifferentialDriveKinematicsConstraint, DifferentialDriveVoltageConstraint, EllipticalRegionConstraint, MaxVelocityConstraint, MecanumDriveKinematicsConstraint, RectangularRegionConstraint, SwerveDriveKinematicsConstraint

public interface TrajectoryConstraint

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

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	TrajectoryConstraint.MinMax	Represents a minimum and maximum acceleration.

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.

Method Details

getMaxVelocity

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

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 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

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

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

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.