Package edu.wpi.first.math.trajectory.constraint

Class RectangularRegionConstraint

java.lang.Object

edu.wpi.first.math.trajectory.constraint.RectangularRegionConstraint

All Implemented Interfaces:

TrajectoryConstraint

public class RectangularRegionConstraint
extends Object
implements TrajectoryConstraint

Enforces a particular constraint only within a rectangular region.

Nested Class Summary

Nested classes/interfaces inherited from interface edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint

TrajectoryConstraint.MinMax

Constructor Summary

Constructors

Constructor	Description
RectangularRegionConstraint(Translation2d bottomLeftPoint, Translation2d topRightPoint, TrajectoryConstraint constraint)	Constructs a new RectangularRegionConstraint.

Method Summary

Modifier and Type	Method	Description
double	getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)	Returns the max velocity given the current pose and curvature.
TrajectoryConstraint.MinMax	getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)	Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.
boolean	isPoseInRegion(Pose2d robotPose)	Returns whether the specified robot pose is within the region that the constraint is enforced in.

Methods inherited from class java.lang.Object

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

Constructor Details

RectangularRegionConstraint

public RectangularRegionConstraint(Translation2d bottomLeftPoint, Translation2d topRightPoint, TrajectoryConstraint constraint)

Constructs a new RectangularRegionConstraint.

Parameters:

bottomLeftPoint - The bottom left point of the rectangular region in which to enforce the constraint.

topRightPoint - The top right point of the rectangular region in which to enforce the constraint.

constraint - The constraint to enforce when the robot is within the region.

Method Details

getMaxVelocityMetersPerSecond

public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)

Description copied from interface: TrajectoryConstraint

Returns the max velocity given the current pose and curvature.

Specified by:

getMaxVelocityMetersPerSecond in interface TrajectoryConstraint

Parameters:

poseMeters - The pose at the current point in the trajectory.

curvatureRadPerMeter - The curvature at the current point in the trajectory.

velocityMetersPerSecond - The velocity at the current point in the trajectory before constraints are applied.

Returns:

The absolute maximum velocity.

getMinMaxAccelerationMetersPerSecondSq

public TrajectoryConstraint.MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)

Description copied from interface: TrajectoryConstraint

Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.

Specified by:

getMinMaxAccelerationMetersPerSecondSq in interface TrajectoryConstraint

Parameters:

poseMeters - The pose at the current point in the trajectory.

curvatureRadPerMeter - The curvature at the current point in the trajectory.

velocityMetersPerSecond - The speed at the current point in the trajectory.

Returns:

The min and max acceleration bounds.

isPoseInRegion

public boolean isPoseInRegion(Pose2d robotPose)

Returns whether the specified robot pose is within the region that the constraint is enforced in.

Parameters:

robotPose - The robot pose.

Returns:

Whether the robot pose is within the constraint region.