frc::DifferentialDriveVoltageConstraint Class Reference

A class that enforces constraints on differential drive voltage expenditure based on the motor dynamics and the drive kinematics. More...

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

Inheritance diagram for frc::DifferentialDriveVoltageConstraint:

Public Member Functions
	DifferentialDriveVoltageConstraint (const SimpleMotorFeedforward< units::meter > &feedforward, DifferentialDriveKinematics kinematics, units::volt_t maxVoltage)
	Creates a new DifferentialDriveVoltageConstraint. More...
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 class that enforces constraints on differential drive voltage expenditure based on the motor dynamics and the drive kinematics.

Ensures that the acceleration of any wheel of the robot while following the trajectory is never higher than what can be achieved with the given maximum voltage.

Constructor & Destructor Documentation

DifferentialDriveVoltageConstraint()

frc::DifferentialDriveVoltageConstraint::DifferentialDriveVoltageConstraint	(	const SimpleMotorFeedforward< units::meter > &	feedforward,
		DifferentialDriveKinematics	kinematics,
		units::volt_t	maxVoltage
	)

Creates a new DifferentialDriveVoltageConstraint.

Parameters

feedforward	A feedforward component describing the behavior of the drive.
kinematics	A kinematics component describing the drive geometry.
maxVoltage	The maximum voltage available to the motors while following the path. Should be somewhat less than the nominal battery voltage (12V) to account for "voltage sag" due to current draw.

Member Function Documentation

MaxVelocity()

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

overridevirtual

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/DifferentialDriveVoltageConstraint.h