12 #include <units/units.h>
14 #include "frc/geometry/Pose2d.h"
15 #include "frc/spline/Spline.h"
42 -std::numeric_limits<double>::max()};
48 std::numeric_limits<double>::max()};
63 units::meters_per_second_t velocity) = 0;
76 units::meters_per_second_t speed) = 0;
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,...
Represents a minimum and maximum acceleration.
Definition: TrajectoryConstraint.h:37
units::meters_per_second_squared_t maxAcceleration
The maximum acceleration.
Definition: TrajectoryConstraint.h:47
An interface for defining user-defined velocity and acceleration constraints while generating traject...
Definition: TrajectoryConstraint.h:22
units::meters_per_second_squared_t minAcceleration
The minimum acceleration.
Definition: TrajectoryConstraint.h:41
Represents a 2d pose containing translational and rotational elements.
Definition: Pose2d.h:23
units::unit_t< units::compound_unit< units::radian, units::inverse< units::meter > >> curvature_t
Define a unit for curvature.
Definition: Trajectory.h:27
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.
A class that enforces constraints on the differential drive kinematics.
Definition: SPIAccelerometerSim.h:16