frc::ExponentialProfile< Distance, Input >::Constraints Class Reference

Profile constraints. More...

#include <frc/trajectory/ExponentialProfile.h>

Public Member Functions
	Constraints (Input_t maxInput, A_t A, B_t B)
	Constructs constraints for an ExponentialProfile. More...
	Constraints (Input_t maxInput, kV_t kV, kA_t kA)
	Constructs constraints for an ExponentialProfile from characteristics. More...
Velocity_t	MaxVelocity () const
	Computes the max achievable velocity for an Exponential Profile. More...

Public Attributes
Input_t	maxInput {0}
	Maximum unsigned input voltage. More...
A_t	A {0}
	The State-Space 1x1 system matrix. More...
B_t	B {0}
	The State-Space 1x1 input matrix. More...

Detailed Description

template<class Distance, class Input>
class frc::ExponentialProfile< Distance, Input >::Constraints

Profile constraints.

Constructor & Destructor Documentation

Constraints() [1/2]

template<class Distance , class Input >

frc::ExponentialProfile< Distance, Input >::Constraints::Constraints ( Input_t  maxInput, A_t  A, B_t  B  )

inline

Constructs constraints for an ExponentialProfile.

Parameters

maxInput	maximum unsigned input voltage
A	The State-Space 1x1 system matrix.
B	The State-Space 1x1 input matrix.

Constraints() [2/2]

template<class Distance , class Input >

frc::ExponentialProfile< Distance, Input >::Constraints::Constraints ( Input_t  maxInput, kV_t  kV, kA_t  kA  )

inline

Constructs constraints for an ExponentialProfile from characteristics.

Parameters

maxInput	maximum unsigned input voltage
kV	The velocity gain.
kA	The acceleration gain.

Member Function Documentation

MaxVelocity()

template<class Distance , class Input >

Velocity_t frc::ExponentialProfile< Distance, Input >::Constraints::MaxVelocity ( ) const

inline

Computes the max achievable velocity for an Exponential Profile.

Returns

The seady-state velocity achieved by this profile.

Member Data Documentation

A

template<class Distance , class Input >

A_t frc::ExponentialProfile< Distance, Input >::Constraints::A {0}

The State-Space 1x1 system matrix.

B

template<class Distance , class Input >

B_t frc::ExponentialProfile< Distance, Input >::Constraints::B {0}

The State-Space 1x1 input matrix.

maxInput

template<class Distance , class Input >

Input_t frc::ExponentialProfile< Distance, Input >::Constraints::maxInput {0}

Maximum unsigned input voltage.

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

• frc/trajectory/ExponentialProfile.h