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WPILibC++
2020.3.2
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An interface for defining user-defined velocity and acceleration constraints while generating trajectories. More...
#include <TrajectoryConstraint.h>
Classes | |
| struct | MinMax |
| Represents a minimum and maximum acceleration. More... | |
Public Member Functions | |
| TrajectoryConstraint (const TrajectoryConstraint &)=default | |
| TrajectoryConstraint & | operator= (const TrajectoryConstraint &)=default |
| TrajectoryConstraint (TrajectoryConstraint &&)=default | |
| TrajectoryConstraint & | operator= (TrajectoryConstraint &&)=default |
| virtual units::meters_per_second_t | MaxVelocity (const Pose2d &pose, curvature_t curvature, units::meters_per_second_t velocity)=0 |
| Returns the max velocity given the current pose and curvature. More... | |
| virtual MinMax | MinMaxAcceleration (const Pose2d &pose, curvature_t curvature, units::meters_per_second_t speed)=0 |
| Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed. More... | |
An interface for defining user-defined velocity and acceleration constraints while generating trajectories.
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pure virtual |
Returns the max velocity given the current pose and curvature.
| 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. |
Implemented in frc::DifferentialDriveVoltageConstraint, frc::SwerveDriveKinematicsConstraint< NumModules >, frc::CentripetalAccelerationConstraint, frc::MecanumDriveKinematicsConstraint, and frc::DifferentialDriveKinematicsConstraint.
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pure virtual |
Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.
| 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. |
Implemented in frc::DifferentialDriveVoltageConstraint, frc::SwerveDriveKinematicsConstraint< NumModules >, frc::CentripetalAccelerationConstraint, frc::MecanumDriveKinematicsConstraint, and frc::DifferentialDriveKinematicsConstraint.