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WPILibC++
2020.3.2
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Class used to parameterize a trajectory by time. More...
#include <TrajectoryParameterizer.h>
Public Types | |
| using | PoseWithCurvature = std::pair< Pose2d, curvature_t > |
Static Public Member Functions | |
| static Trajectory | TimeParameterizeTrajectory (const std::vector< PoseWithCurvature > &points, const std::vector< std::unique_ptr< TrajectoryConstraint >> &constraints, units::meters_per_second_t startVelocity, units::meters_per_second_t endVelocity, units::meters_per_second_t maxVelocity, units::meters_per_second_squared_t maxAcceleration, bool reversed) |
| Parameterize the trajectory by time. More... | |
Class used to parameterize a trajectory by time.
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static |
Parameterize the trajectory by time.
This is where the velocity profile is generated.
The derivation of the algorithm used can be found here: http://www2.informatik.uni-freiburg.de/~lau/students/Sprunk2008.pdf
| points | Reference to the spline points. |
| constraints | A vector of various velocity and acceleration constraints. |
| startVelocity | The start velocity for the trajectory. |
| endVelocity | The end velocity for the trajectory. |
| maxVelocity | The max velocity for the trajectory. |
| maxAcceleration | The max acceleration for the trajectory. |
| reversed | Whether the robot should move backwards. Note that the robot will still move from a -> b -> ... -> z as defined in the waypoints. |