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WPILibC++
2020.3.2
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Represents the configuration for generating a trajectory. More...
#include <TrajectoryConfig.h>
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| TrajectoryConfig (units::meters_per_second_t maxVelocity, units::meters_per_second_squared_t maxAcceleration) | |
| Constructs a config object. More... | |
| TrajectoryConfig (const TrajectoryConfig &)=delete | |
| TrajectoryConfig & | operator= (const TrajectoryConfig &)=delete |
| TrajectoryConfig (TrajectoryConfig &&)=default | |
| TrajectoryConfig & | operator= (TrajectoryConfig &&)=default |
| void | SetStartVelocity (units::meters_per_second_t startVelocity) |
| Sets the start velocity of the trajectory. More... | |
| void | SetEndVelocity (units::meters_per_second_t endVelocity) |
| Sets the end velocity of the trajectory. More... | |
| void | SetReversed (bool reversed) |
| Sets the reversed flag of the trajectory. More... | |
| template<typename Constraint , typename = std::enable_if_t<std::is_base_of_v< TrajectoryConstraint, Constraint>>> | |
| void | AddConstraint (Constraint constraint) |
| Adds a user-defined constraint to the trajectory. More... | |
| void | SetKinematics (const DifferentialDriveKinematics &kinematics) |
| Adds a differential drive kinematics constraint to ensure that no wheel velocity of a differential drive goes above the max velocity. More... | |
| void | SetKinematics (MecanumDriveKinematics kinematics) |
| Adds a mecanum drive kinematics constraint to ensure that no wheel velocity of a mecanum drive goes above the max velocity. More... | |
| template<size_t NumModules> | |
| void | SetKinematics (SwerveDriveKinematics< NumModules > &kinematics) |
| Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity. More... | |
| units::meters_per_second_t | StartVelocity () const |
| Returns the starting velocity of the trajectory. More... | |
| units::meters_per_second_t | EndVelocity () const |
| Returns the ending velocity of the trajectory. More... | |
| units::meters_per_second_t | MaxVelocity () const |
| Returns the maximum velocity of the trajectory. More... | |
| units::meters_per_second_squared_t | MaxAcceleration () const |
| Returns the maximum acceleration of the trajectory. More... | |
| const std::vector< std::unique_ptr< TrajectoryConstraint > > & | Constraints () const |
| Returns the user-defined constraints of the trajectory. More... | |
| bool | IsReversed () const |
| Returns whether the trajectory is reversed or not. More... | |
Represents the configuration for generating a trajectory.
This class stores the start velocity, end velocity, max velocity, max acceleration, custom constraints, and the reversed flag.
The class must be constructed with a max velocity and max acceleration. The other parameters (start velocity, end velocity, constraints, reversed) have been defaulted to reasonable values (0, 0, {}, false). These values can be changed via the SetXXX methods.
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Constructs a config object.
| maxVelocity | The max velocity of the trajectory. |
| maxAcceleration | The max acceleration of the trajectory. |
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Adds a user-defined constraint to the trajectory.
| constraint | The user-defined constraint. |
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Returns the user-defined constraints of the trajectory.
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Returns the ending velocity of the trajectory.
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Returns whether the trajectory is reversed or not.
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Returns the maximum acceleration of the trajectory.
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Returns the maximum velocity of the trajectory.
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Sets the end velocity of the trajectory.
| endVelocity | The end velocity of the trajectory. |
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Adds a differential drive kinematics constraint to ensure that no wheel velocity of a differential drive goes above the max velocity.
| kinematics | The differential drive kinematics. |
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Adds a mecanum drive kinematics constraint to ensure that no wheel velocity of a mecanum drive goes above the max velocity.
| kinematics | The mecanum drive kinematics. |
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Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.
| kinematics | The swerve drive kinematics. |
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Sets the reversed flag of the trajectory.
| reversed | Whether the trajectory should be reversed or not. |
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Sets the start velocity of the trajectory.
| startVelocity | The start velocity of the trajectory. |
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Returns the starting velocity of the trajectory.