frc::DifferentialDriveKinematicsConstraint Class Reference

A class that enforces constraints on the differential drive kinematics. More...

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

Inheritance diagram for frc::DifferentialDriveKinematicsConstraint:

Public Member Functions
constexpr	DifferentialDriveKinematicsConstraint (DifferentialDriveKinematics kinematics, units::meters_per_second_t maxSpeed)
constexpr 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.
constexpr 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.
Public Member Functions inherited from frc::TrajectoryConstraint
constexpr	TrajectoryConstraint ()=default
constexpr	TrajectoryConstraint (const TrajectoryConstraint &)=default
constexpr TrajectoryConstraint &	operator= (const TrajectoryConstraint &)=default
constexpr	TrajectoryConstraint (TrajectoryConstraint &&)=default
constexpr TrajectoryConstraint &	operator= (TrajectoryConstraint &&)=default
virtual constexpr	~TrajectoryConstraint ()=default

Detailed Description

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.

Constructor & Destructor Documentation

DifferentialDriveKinematicsConstraint()

frc::DifferentialDriveKinematicsConstraint::DifferentialDriveKinematicsConstraint ( DifferentialDriveKinematics kinematics, units::meters_per_second_t maxSpeed )

inlineconstexpr

Member Function Documentation

MaxVelocity()

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

inlineconstexproverridevirtual

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::DifferentialDriveKinematicsConstraint::MinMaxAcceleration ( const Pose2d & pose, units::curvature_t curvature, units::meters_per_second_t speed ) const

inlineconstexproverridevirtual

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.
speed	The speed at the current point in the trajectory.

Returns

The min and max acceleration bounds.

Implements frc::TrajectoryConstraint.

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The documentation for this class was generated from the following file:

• frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h