Enforces a particular constraint only within a rectangular region. More...

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

Inheritance diagram for frc::RectangularRegionConstraint< Constraint >:

Public Member Functions
	RectangularRegionConstraint (const Translation2d &bottomLeftPoint, const Translation2d &topRightPoint, const Constraint &constraint)
	Constructs a new RectangularRegionConstraint. 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::RectangularRegionConstraint< Constraint >

Enforces a particular constraint only within a rectangular region.

Constructor & Destructor Documentation

◆ RectangularRegionConstraint()

template<std::derived_from< TrajectoryConstraint > Constraint>

frc::RectangularRegionConstraint< Constraint >::RectangularRegionConstraint	(	const Translation2d &	bottomLeftPoint,
		const Translation2d &	topRightPoint,
		const Constraint &	constraint
	)

inline

Constructs a new RectangularRegionConstraint.

Parameters

bottomLeftPoint	The bottom left point of the rectangular region in which to enforce the constraint.
topRightPoint	The top right point of the rectangular region in which to enforce the constraint.
constraint	The constraint to enforce when the robot is within the region.

Member Function Documentation

◆ IsPoseInRegion()

template<std::derived_from< TrajectoryConstraint > Constraint>

bool frc::RectangularRegionConstraint< 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::RectangularRegionConstraint< 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::RectangularRegionConstraint< 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.

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

frc/trajectory/constraint/RectangularRegionConstraint.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RectangularRegionConstraint()

Member Function Documentation

◆ IsPoseInRegion()

◆ MaxVelocity()

◆ MinMaxAcceleration()