frc::TrajectoryConstraint Class Reference

An interface for defining user-defined velocity and acceleration constraints while generating trajectories. More...

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

Inheritance diagram for frc::TrajectoryConstraint:

Classes
struct	MinMax
	Represents a minimum and maximum acceleration. More...

Public Member Functions
	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

An interface for defining user-defined velocity and acceleration constraints while generating trajectories.

Constructor & Destructor Documentation

TrajectoryConstraint() [1/3]

frc::TrajectoryConstraint::TrajectoryConstraint ( )

default

TrajectoryConstraint() [2/3]

frc::TrajectoryConstraint::TrajectoryConstraint ( const TrajectoryConstraint &  )

default

TrajectoryConstraint() [3/3]

frc::TrajectoryConstraint::TrajectoryConstraint ( TrajectoryConstraint &&  )

default

~TrajectoryConstraint()

virtual frc::TrajectoryConstraint::~TrajectoryConstraint ( )

virtualdefault

Member Function Documentation

MaxVelocity()

virtual units::meters_per_second_t frc::TrajectoryConstraint::MaxVelocity ( const Pose2d &  pose, units::curvature_t  curvature, units::meters_per_second_t  velocity  ) const

pure virtual

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.

Implemented in frc::CentripetalAccelerationConstraint, frc::DifferentialDriveKinematicsConstraint, frc::DifferentialDriveVoltageConstraint, frc::EllipticalRegionConstraint< Constraint >, frc::MaxVelocityConstraint, frc::MecanumDriveKinematicsConstraint, frc::RectangularRegionConstraint< Constraint >, and frc::SwerveDriveKinematicsConstraint< NumModules >.

MinMaxAcceleration()

virtual MinMax frc::TrajectoryConstraint::MinMaxAcceleration ( const Pose2d &  pose, units::curvature_t  curvature, units::meters_per_second_t  speed  ) const

pure virtual

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.

Implemented in frc::CentripetalAccelerationConstraint, frc::DifferentialDriveKinematicsConstraint, frc::DifferentialDriveVoltageConstraint, frc::EllipticalRegionConstraint< Constraint >, frc::MaxVelocityConstraint, frc::MecanumDriveKinematicsConstraint, frc::RectangularRegionConstraint< Constraint >, and frc::SwerveDriveKinematicsConstraint< NumModules >.

operator=() [1/2]

TrajectoryConstraint & frc::TrajectoryConstraint::operator= ( const TrajectoryConstraint &  )

default

operator=() [2/2]

TrajectoryConstraint & frc::TrajectoryConstraint::operator= ( TrajectoryConstraint &&  )

default

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

• frc/trajectory/constraint/TrajectoryConstraint.h