10 #include <units/units.h>
12 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
28 units::meters_per_second_squared_t maxCentripetalAcceleration);
32 units::meters_per_second_t velocity)
override;
35 units::meters_per_second_t speed)
override;
38 units::meters_per_second_squared_t m_maxCentripetalAcceleration;
Represents a minimum and maximum acceleration.
Definition: TrajectoryConstraint.h:37
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.
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,...
An interface for defining user-defined velocity and acceleration constraints while generating traject...
Definition: TrajectoryConstraint.h:22
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
A constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory.
Definition: CentripetalAccelerationConstraint.h:25
A class that enforces constraints on the differential drive kinematics.
Definition: SPIAccelerometerSim.h:16