frc::MaxVelocityConstraint Class Reference

Represents a constraint that enforces a max velocity. More...

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

Inheritance diagram for frc::MaxVelocityConstraint:

Public Member Functions
	MaxVelocityConstraint (units::meters_per_second_t maxVelocity)
	Constructs a new MaxVelocityConstraint. 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

Represents a constraint that enforces a max velocity.

This can be composed with the EllipticalRegionConstraint or RectangularRegionConstraint to enforce a max velocity within a region.

Constructor & Destructor Documentation

MaxVelocityConstraint()

frc::MaxVelocityConstraint::MaxVelocityConstraint ( units::meters_per_second_t  maxVelocity )

explicit

Constructs a new MaxVelocityConstraint.

Parameters

maxVelocity

The max velocity.

Member Function Documentation

MaxVelocity()

units::meters_per_second_t frc::MaxVelocityConstraint::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::MaxVelocityConstraint::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/MaxVelocityConstraint.h