A constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory. More...

#include <frc/trajectory/constraint/CentripetalAccelerationConstraint.h>

Inheritance diagram for frc::CentripetalAccelerationConstraint:

Public Member Functions
	CentripetalAccelerationConstraint (units::meters_per_second_squared_t maxCentripetalAcceleration)

units::meters_per_second_t	MaxVelocity (const Pose2d &pose, units::curvature_t curvature, units::meters_per_second_t velocity) const override
	Returns the max velocity given the current pose and curvature. More...

MinMax	MinMaxAcceleration (const Pose2d &pose, units::curvature_t curvature, units::meters_per_second_t speed) const override
	Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed. More...

Public Member Functions inherited from frc::TrajectoryConstraint
	TrajectoryConstraint ()=default

	TrajectoryConstraint (const TrajectoryConstraint &)=default

TrajectoryConstraint &	operator= (const TrajectoryConstraint &)=default

	TrajectoryConstraint (TrajectoryConstraint &&)=default

TrajectoryConstraint &	operator= (TrajectoryConstraint &&)=default

virtual	~TrajectoryConstraint ()=default

virtual units::meters_per_second_t	MaxVelocity (const Pose2d &pose, units::curvature_t curvature, units::meters_per_second_t velocity) const =0
	Returns the max velocity given the current pose and curvature. More...

virtual MinMax	MinMaxAcceleration (const Pose2d &pose, units::curvature_t curvature, units::meters_per_second_t speed) const =0
	Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed. More...

Detailed Description

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.

Constructor & Destructor Documentation

◆ CentripetalAccelerationConstraint()

frc::CentripetalAccelerationConstraint::CentripetalAccelerationConstraint ( units::meters_per_second_squared_t maxCentripetalAcceleration )

explicit

Member Function Documentation

◆ MaxVelocity()

units::meters_per_second_t frc::CentripetalAccelerationConstraint::MaxVelocity	(	const Pose2d &	pose,
		units::curvature_t	curvature,
		units::meters_per_second_t	velocity
	)		const

overridevirtual

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.
velocity	The velocity at the current point in the trajectory before constraints are applied.

Returns: The absolute maximum velocity.

Implements frc::TrajectoryConstraint.

◆ MinMaxAcceleration()

MinMax frc::CentripetalAccelerationConstraint::MinMaxAcceleration	(	const Pose2d &	pose,
		units::curvature_t	curvature,
		units::meters_per_second_t	speed
	)		const