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
constexpr	TrajectoryConstraint ()=default
constexpr	TrajectoryConstraint (const TrajectoryConstraint &)=default
constexpr TrajectoryConstraint &	operator= (const TrajectoryConstraint &)=default
constexpr	TrajectoryConstraint (TrajectoryConstraint &&)=default
constexpr TrajectoryConstraint &	operator= (TrajectoryConstraint &&)=default
virtual constexpr	~TrajectoryConstraint ()=default
virtual constexpr 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.
virtual constexpr 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.

Detailed Description

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

Constructor & Destructor Documentation

TrajectoryConstraint() [1/3]

frc::TrajectoryConstraint::TrajectoryConstraint ( )

constexprdefault

TrajectoryConstraint() [2/3]

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

constexprdefault

TrajectoryConstraint() [3/3]

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

constexprdefault

~TrajectoryConstraint()

virtual constexpr frc::TrajectoryConstraint::~TrajectoryConstraint ( )

constexprvirtualdefault

Member Function Documentation

MaxVelocity()

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

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

constexprpure 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 & )

constexprdefault

operator=() [2/2]

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

constexprdefault

---

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

• frc/trajectory/constraint/TrajectoryConstraint.h