Class ExponentialProfile.Constraints

java.lang.Object
edu.wpi.first.math.trajectory.ExponentialProfile.Constraints
Enclosing class:
ExponentialProfile

public static class ExponentialProfile.Constraints
extends Object
Profile constraints.
  • 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 seady-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.