WPILibC++  2020.3.2-60-g3011ebe
frc::TrajectoryConstraint Class Referenceabstract

An interface for defining user-defined velocity and acceleration constraints while generating trajectories. More...

#include <TrajectoryConstraint.h>

Inheritance diagram for frc::TrajectoryConstraint:

## Classes

struct  MinMax
Represents a minimum and maximum acceleration. More...

## Public Member Functions

TrajectoryConstraint (const TrajectoryConstraint &)=default

TrajectoryConstraintoperator= (const TrajectoryConstraint &)=default

TrajectoryConstraint (TrajectoryConstraint &&)=default

TrajectoryConstraintoperator= (TrajectoryConstraint &&)=default

virtual units::meters_per_second_t MaxVelocity (const Pose2d &pose, units::curvature_t curvature, units::meters_per_second_t velocity) const =0
Returns the max velocity given the current pose and curvature. More...

virtual MinMax MinMaxAcceleration (const Pose2d &pose, units::curvature_t curvature, units::meters_per_second_t speed) const =0
Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed. More...

## Detailed Description

An interface for defining user-defined velocity and acceleration constraints while generating trajectories.

## ◆ MaxVelocity()

 virtual units::meters_per_second_t frc::TrajectoryConstraint::MaxVelocity ( const Pose2d & pose, units::curvature_t curvature, units::meters_per_second_t velocity ) const
pure virtual

Returns the max velocity given the current pose and curvature.

Parameters
 pose The pose at the current point in the trajectory. curvature The curvature at the current point in the trajectory. velocity The velocity at the current point in the trajectory before constraints are applied.
Returns
The absolute maximum velocity.

## ◆ MinMaxAcceleration()

 virtual MinMax frc::TrajectoryConstraint::MinMaxAcceleration ( const Pose2d & pose, units::curvature_t curvature, units::meters_per_second_t speed ) const
pure virtual

Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.

Parameters
 pose The pose at the current point in the trajectory. curvature The curvature at the current point in the trajectory. speed The speed at the current point in the trajectory.
Returns
The min and max acceleration bounds.

The documentation for this class was generated from the following file: