frc::TrajectoryParameterizer Class Reference

Class used to parameterize a trajectory by time. More...

#include <frc/trajectory/TrajectoryParameterizer.h>

Public Types
using	PoseWithCurvature = std::pair< Pose2d, units::curvature_t >

Static Public Member Functions
static Trajectory	TimeParameterizeTrajectory (const std::vector< PoseWithCurvature > &points, const std::vector< std::unique_ptr< TrajectoryConstraint > > &constraints, units::meters_per_second_t startVelocity, units::meters_per_second_t endVelocity, units::meters_per_second_t maxVelocity, units::meters_per_second_squared_t maxAcceleration, bool reversed)
	Parameterize the trajectory by time. More...

Detailed Description

Class used to parameterize a trajectory by time.

Member Typedef Documentation

PoseWithCurvature

using frc::TrajectoryParameterizer::PoseWithCurvature = std::pair<Pose2d, units::curvature_t>

Member Function Documentation

TimeParameterizeTrajectory()

static Trajectory frc::TrajectoryParameterizer::TimeParameterizeTrajectory ( const std::vector< PoseWithCurvature > &  points, const std::vector< std::unique_ptr< TrajectoryConstraint > > &  constraints, units::meters_per_second_t  startVelocity, units::meters_per_second_t  endVelocity, units::meters_per_second_t  maxVelocity, units::meters_per_second_squared_t  maxAcceleration, bool  reversed  )

static

Parameterize the trajectory by time.

This is where the velocity profile is generated.

The derivation of the algorithm used can be found here: http://www2.informatik.uni-freiburg.de/~lau/students/Sprunk2008.pdf

Parameters

points	Reference to the spline points.
constraints	A vector of various velocity and acceleration constraints.
startVelocity	The start velocity for the trajectory.
endVelocity	The end velocity for the trajectory.
maxVelocity	The max velocity for the trajectory.
maxAcceleration	The max acceleration for the trajectory.
reversed	Whether the robot should move backwards. Note that the robot will still move from a -> b -> ... -> z as defined in the waypoints.

Returns

The trajectory.

---

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

• frc/trajectory/TrajectoryParameterizer.h