WPILibC++  2020.3.2
CentripetalAccelerationConstraint.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2019 FIRST. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
7 
8 #pragma once
9 
10 #include <units/units.h>
11 
12 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
13 
14 namespace frc {
15 
26  public:
28  units::meters_per_second_squared_t maxCentripetalAcceleration);
29 
30  units::meters_per_second_t MaxVelocity(
31  const Pose2d& pose, curvature_t curvature,
32  units::meters_per_second_t velocity) override;
33 
34  MinMax MinMaxAcceleration(const Pose2d& pose, curvature_t curvature,
35  units::meters_per_second_t speed) override;
36 
37  private:
38  units::meters_per_second_squared_t m_maxCentripetalAcceleration;
39 };
40 } // namespace frc
frc::TrajectoryConstraint::MinMax
Represents a minimum and maximum acceleration.
Definition: TrajectoryConstraint.h:37
frc::CentripetalAccelerationConstraint::MaxVelocity
units::meters_per_second_t MaxVelocity(const Pose2d &pose, curvature_t curvature, units::meters_per_second_t velocity) override
Returns the max velocity given the current pose and curvature.
frc::CentripetalAccelerationConstraint::MinMaxAcceleration
MinMax MinMaxAcceleration(const Pose2d &pose, curvature_t curvature, units::meters_per_second_t speed) override
Returns the minimum and maximum allowable acceleration for the trajectory given pose,...
frc::TrajectoryConstraint
An interface for defining user-defined velocity and acceleration constraints while generating traject...
Definition: TrajectoryConstraint.h:22
frc::Pose2d
Represents a 2d pose containing translational and rotational elements.
Definition: Pose2d.h:23
frc::curvature_t
units::unit_t< units::compound_unit< units::radian, units::inverse< units::meter > >> curvature_t
Define a unit for curvature.
Definition: Trajectory.h:27
frc::CentripetalAccelerationConstraint
A constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory.
Definition: CentripetalAccelerationConstraint.h:25
frc
A class that enforces constraints on the differential drive kinematics.
Definition: SPIAccelerometerSim.h:16