Represents the configuration for generating a trajectory. More...

#include <frc/trajectory/TrajectoryConfig.h>

Public Member Functions
	TrajectoryConfig (units::meters_per_second_t maxVelocity, units::meters_per_second_squared_t maxAcceleration)
	Constructs a config object. More...

	TrajectoryConfig (const TrajectoryConfig &)=delete

TrajectoryConfig &	operator= (const TrajectoryConfig &)=delete

	TrajectoryConfig (TrajectoryConfig &&)=default

TrajectoryConfig &	operator= (TrajectoryConfig &&)=default

void	SetStartVelocity (units::meters_per_second_t startVelocity)
	Sets the start velocity of the trajectory. More...

void	SetEndVelocity (units::meters_per_second_t endVelocity)
	Sets the end velocity of the trajectory. More...

void	SetReversed (bool reversed)
	Sets the reversed flag of the trajectory. More...

template<std::derived_from< TrajectoryConstraint > Constraint>
void	AddConstraint (Constraint constraint)
	Adds a user-defined constraint to the trajectory. More...

void	SetKinematics (const DifferentialDriveKinematics &kinematics)
	Adds a differential drive kinematics constraint to ensure that no wheel velocity of a differential drive goes above the max velocity. More...

void	SetKinematics (MecanumDriveKinematics kinematics)
	Adds a mecanum drive kinematics constraint to ensure that no wheel velocity of a mecanum drive goes above the max velocity. More...

template<size_t NumModules>
void	SetKinematics (SwerveDriveKinematics< NumModules > &kinematics)
	Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity. More...

units::meters_per_second_t	StartVelocity () const
	Returns the starting velocity of the trajectory. More...

units::meters_per_second_t	EndVelocity () const
	Returns the ending velocity of the trajectory. More...

units::meters_per_second_t	MaxVelocity () const
	Returns the maximum velocity of the trajectory. More...

units::meters_per_second_squared_t	MaxAcceleration () const
	Returns the maximum acceleration of the trajectory. More...

const std::vector< std::unique_ptr< TrajectoryConstraint > > &	Constraints () const
	Returns the user-defined constraints of the trajectory. More...

bool	IsReversed () const
	Returns whether the trajectory is reversed or not. More...

Detailed Description

Represents the configuration for generating a trajectory.

This class stores the start velocity, end velocity, max velocity, max acceleration, custom constraints, and the reversed flag.

The class must be constructed with a max velocity and max acceleration. The other parameters (start velocity, end velocity, constraints, reversed) have been defaulted to reasonable values (0, 0, {}, false). These values can be changed via the SetXXX methods.

Constructor & Destructor Documentation

◆ TrajectoryConfig() [1/3]

frc::TrajectoryConfig::TrajectoryConfig	(	units::meters_per_second_t	maxVelocity,
		units::meters_per_second_squared_t	maxAcceleration
	)

inline

Constructs a config object.

Parameters

maxVelocity	The max velocity of the trajectory.
maxAcceleration	The max acceleration of the trajectory.

◆ TrajectoryConfig() [2/3]

frc::TrajectoryConfig::TrajectoryConfig ( const TrajectoryConfig & )

delete

◆ TrajectoryConfig() [3/3]

frc::TrajectoryConfig::TrajectoryConfig ( TrajectoryConfig && )

default

Member Function Documentation

◆ AddConstraint()

template<std::derived_from< TrajectoryConstraint > Constraint>

void frc::TrajectoryConfig::AddConstraint ( Constraint constraint )

inline

Adds a user-defined constraint to the trajectory.

Parameters

constraint The user-defined constraint.

◆ Constraints()

const std::vector< std::unique_ptr< TrajectoryConstraint > > & frc::TrajectoryConfig::Constraints ( ) const

inline

Returns the user-defined constraints of the trajectory.

Returns: The user-defined constraints of the trajectory.

◆ EndVelocity()

units::meters_per_second_t frc::TrajectoryConfig::EndVelocity ( ) const

inline

Returns the ending velocity of the trajectory.

Returns: The ending velocity of the trajectory.

◆ IsReversed()

bool frc::TrajectoryConfig::IsReversed ( ) const

inline

Returns whether the trajectory is reversed or not.

Returns: whether the trajectory is reversed or not.

◆ MaxAcceleration()

units::meters_per_second_squared_t frc::TrajectoryConfig::MaxAcceleration ( ) const

inline

Returns the maximum acceleration of the trajectory.

Returns: The maximum acceleration of the trajectory.

◆ MaxVelocity()

units::meters_per_second_t frc::TrajectoryConfig::MaxVelocity ( ) const

inline

Returns the maximum velocity of the trajectory.

Returns: The maximum velocity of the trajectory.

kinematics The swerve drive kinematics.

◆ SetReversed()

void frc::TrajectoryConfig::SetReversed ( bool reversed )

inline

Sets the reversed flag of the trajectory.

Parameters

reversed Whether the trajectory should be reversed or not.

◆ SetStartVelocity()

void frc::TrajectoryConfig::SetStartVelocity ( units::meters_per_second_t startVelocity )

inline

Sets the start velocity of the trajectory.

Parameters

startVelocity The start velocity of the trajectory.

◆ StartVelocity()

units::meters_per_second_t frc::TrajectoryConfig::StartVelocity ( ) const

inline

Returns the starting velocity of the trajectory.

Returns: The starting velocity of the trajectory.

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

frc/trajectory/TrajectoryConfig.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ TrajectoryConfig() [1/3]

◆ TrajectoryConfig() [2/3]

◆ TrajectoryConfig() [3/3]

Member Function Documentation

◆ AddConstraint()

◆ Constraints()

◆ EndVelocity()

◆ IsReversed()

◆ MaxAcceleration()

◆ MaxVelocity()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ SetEndVelocity()

◆ SetKinematics() [1/3]

◆ SetKinematics() [2/3]

◆ SetKinematics() [3/3]

◆ SetReversed()

◆ SetStartVelocity()

◆ StartVelocity()