WPILibC++ 2025.3.2
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frc::ExponentialProfile< Distance, Input >::Constraints Class Reference

Profile constraints. More...

#include <frc/trajectory/ExponentialProfile.h>

Public Member Functions

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

Public Attributes

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

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 )
inlineconstexpr

Constructs constraints for an ExponentialProfile.

Parameters
maxInputmaximum unsigned input voltage
AThe State-Space 1x1 system matrix.
BThe 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 )
inlineconstexpr

Constructs constraints for an ExponentialProfile from characteristics.

Parameters
maxInputmaximum unsigned input voltage
kVThe velocity gain.
kAThe acceleration gain.

Member Function Documentation

◆ MaxVelocity()

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

Computes the max achievable velocity for an Exponential Profile.

Returns
The steady-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.


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