frc::EllipticalRegionConstraint< Constraint > Class Template Reference

Enforces a particular constraint only within an elliptical region. More...

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

Inheritance diagram for frc::EllipticalRegionConstraint< Constraint >:

Public Member Functions
	EllipticalRegionConstraint (const Translation2d &center, units::meter_t xWidth, units::meter_t yWidth, const Rotation2d &rotation, const Constraint &constraint)
	Constructs a new EllipticalRegionConstraint. 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...
bool	IsPoseInRegion (const Pose2d &pose) const
	Returns whether the specified robot pose is within the region that the constraint is enforced in. 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

template<std::derived_from< TrajectoryConstraint > Constraint>
class frc::EllipticalRegionConstraint< Constraint >

Enforces a particular constraint only within an elliptical region.

Constructor & Destructor Documentation

EllipticalRegionConstraint()

template<std::derived_from< TrajectoryConstraint > Constraint>

frc::EllipticalRegionConstraint< Constraint >::EllipticalRegionConstraint ( const Translation2d &  center, units::meter_t  xWidth, units::meter_t  yWidth, const Rotation2d &  rotation, const Constraint &  constraint  )

inline

Constructs a new EllipticalRegionConstraint.

Parameters

center	The center of the ellipse in which to enforce the constraint.
xWidth	The width of the ellipse in which to enforce the constraint.
yWidth	The height of the ellipse in which to enforce the constraint.
rotation	The rotation to apply to all radii around the origin.
constraint	The constraint to enforce when the robot is within the region.

Member Function Documentation

IsPoseInRegion()

template<std::derived_from< TrajectoryConstraint > Constraint>

bool frc::EllipticalRegionConstraint< Constraint >::IsPoseInRegion ( const Pose2d &  pose ) const

inline

Returns whether the specified robot pose is within the region that the constraint is enforced in.

Parameters

pose	The robot pose.

Returns

Whether the robot pose is within the constraint region.

MaxVelocity()

template<std::derived_from< TrajectoryConstraint > Constraint>

units::meters_per_second_t frc::EllipticalRegionConstraint< Constraint >::MaxVelocity ( const Pose2d &  pose, units::curvature_t  curvature, units::meters_per_second_t  velocity  ) const

inlineoverridevirtual

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()

template<std::derived_from< TrajectoryConstraint > Constraint>

MinMax frc::EllipticalRegionConstraint< Constraint >::MinMaxAcceleration ( const Pose2d &  pose, units::curvature_t  curvature, units::meters_per_second_t  speed  ) const

inlineoverridevirtual

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/EllipticalRegionConstraint.h