Package edu.wpi.first.math.trajectory

Class ExponentialProfile.Constraints

java.lang.Object

edu.wpi.first.math.trajectory.ExponentialProfile.Constraints

Enclosing class:

ExponentialProfile

public static final class ExponentialProfile.Constraints
extends Object

Profile constraints.

Field Summary

Fields

Modifier and Type	Field	Description
final double	A	The State-Space 1x1 system matrix.
final double	B	The State-Space 1x1 input matrix.
final double	maxInput	Maximum unsigned input voltage.

Method Summary

Modifier and Type	Method	Description
static ExponentialProfile.Constraints	fromCharacteristics(double maxInput, double kV, double kA)	Constructs constraints for an ExponentialProfile from characteristics.
static ExponentialProfile.Constraints	fromStateSpace(double maxInput, double A, double B)	Constructs constraints for an ExponentialProfile from State-Space parameters.
double	maxVelocity()	Computes the max achievable velocity for an Exponential Profile.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

maxInput

public final double maxInput

Maximum unsigned input voltage.

A

public final double A

The State-Space 1x1 system matrix.

B

public final double B

The State-Space 1x1 input matrix.

Method Details

maxVelocity

public double maxVelocity()

Computes the max achievable velocity for an Exponential Profile.

Returns:

The steady-state velocity achieved by this profile.

fromCharacteristics

public static ExponentialProfile.Constraints fromCharacteristics(double maxInput,
 double kV,
 double kA)

Constructs constraints for an ExponentialProfile from characteristics.

Parameters:

maxInput - maximum unsigned input voltage

kV - The velocity gain.

kA - The acceleration gain.

Returns:

The Constraints object.

fromStateSpace

public static ExponentialProfile.Constraints fromStateSpace(double maxInput,
 double A,
 double B)

Constructs constraints for an ExponentialProfile from State-Space parameters.

Parameters:

maxInput - maximum unsigned input voltage

A - The State-Space 1x1 system matrix.

B - The State-Space 1x1 input matrix.

Returns:

The Constraints object.