Interface TrajectoryConstraint
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- All Known Implementing Classes:
CentripetalAccelerationConstraint,DifferentialDriveKinematicsConstraint,DifferentialDriveVoltageConstraint,MecanumDriveKinematicsConstraint,SwerveDriveKinematicsConstraint
public interface TrajectoryConstraintAn interface for defining user-defined velocity and acceleration constraints while generating trajectories.
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Nested Class Summary
Nested Classes Modifier and Type Interface Description static classTrajectoryConstraint.MinMaxRepresents a minimum and maximum acceleration.
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Method Summary
All Methods Instance Methods Abstract Methods Modifier and Type Method Description doublegetMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)Returns the max velocity given the current pose and curvature.TrajectoryConstraint.MinMaxgetMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.
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Method Detail
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getMaxVelocityMetersPerSecond
double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)
Returns the max velocity given the current pose and curvature.- Parameters:
poseMeters- The pose at the current point in the trajectory.curvatureRadPerMeter- The curvature at the current point in the trajectory.velocityMetersPerSecond- The velocity at the current point in the trajectory before constraints are applied.- Returns:
- The absolute maximum velocity.
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getMinMaxAccelerationMetersPerSecondSq
TrajectoryConstraint.MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)
Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.- Parameters:
poseMeters- The pose at the current point in the trajectory.curvatureRadPerMeter- The curvature at the current point in the trajectory.velocityMetersPerSecond- The speed at the current point in the trajectory.- Returns:
- The min and max acceleration bounds.
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