frc::SwerveDriveKinematicsConstraint< NumModules > Class Template Reference

A class that enforces constraints on the swerve drive kinematics. More...

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

Inheritance diagram for frc::SwerveDriveKinematicsConstraint< NumModules >:

Public Member Functions
	SwerveDriveKinematicsConstraint (const frc::SwerveDriveKinematics< NumModules > &kinematics, units::meters_per_second_t maxSpeed)
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

template<size_t NumModules>
class frc::SwerveDriveKinematicsConstraint< NumModules >

A class that enforces constraints on the swerve drive kinematics.

This can be used to ensure that the trajectory is constructed so that the commanded velocities of the wheels stay below a certain limit.

Constructor & Destructor Documentation

SwerveDriveKinematicsConstraint()

template<size_t NumModules>

frc::SwerveDriveKinematicsConstraint< NumModules >::SwerveDriveKinematicsConstraint	(	const frc::SwerveDriveKinematics< NumModules > &	kinematics,
		units::meters_per_second_t	maxSpeed
	)

Member Function Documentation

MaxVelocity()

template<size_t NumModules>

units::meters_per_second_t frc::SwerveDriveKinematicsConstraint< NumModules >::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()

template<size_t NumModules>

TrajectoryConstraint::MinMax frc::SwerveDriveKinematicsConstraint< NumModules >::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 files:

• frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h
• frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc