RectangularRegionConstraint Class Reference

#include <rectangular_region_constraint.h>

Description

Enforces a TrajectoryConstraint only when the robot's translation falls within a specified 2D rectangular bounding box.

Inheritance diagram for RectangularRegionConstraint:

Public Member Functions
	RectangularRegionConstraint (const Translation2d &bottom_left, const Translation2d &top_right, const TrajectoryConstraint &constraint)
	Constructs a RectangularRegionConstraint.
units::Velocity	max_velocity (const Pose2d &pose, units::Curvature curvature, units::Velocity velocity) const override
	Computes maximum allowed velocity at a given pose and path curvature.
TrajectoryConstraint::MinMax	min_max_acceleration (const Pose2d &pose, units::Curvature curvature, units::Velocity velocity) const override
	Computes minimum and maximum allowed linear accelerations at a given pose, curvature, and speed.
std::unique_ptr< TrajectoryConstraint >	clone () const override
	Creates an independent copy of this constraint.
Public Member Functions inherited from TrajectoryConstraint
	TrajectoryConstraint (const TrajectoryConstraint &)=default
TrajectoryConstraint &	operator= (const TrajectoryConstraint &)=default
	TrajectoryConstraint (TrajectoryConstraint &&)=default
TrajectoryConstraint &	operator= (TrajectoryConstraint &&)=default

Constructor & Destructor Documentation

RectangularRegionConstraint()

RectangularRegionConstraint::RectangularRegionConstraint ( const Translation2d & bottom_left, const Translation2d & top_right, const TrajectoryConstraint & constraint )

inline

Constructs a RectangularRegionConstraint.

Parameters

bottom_left	The bottom-left coordinate of the bounding box.
top_right	The top-right coordinate of the bounding box.
constraint	The child constraint to apply when inside the box.

Member Function Documentation

clone()

std::unique_ptr< TrajectoryConstraint > RectangularRegionConstraint::clone ( ) const

inlineoverridevirtual

Creates an independent copy of this constraint.

Returns

Unique pointer to cloned TrajectoryConstraint instance.

Implements TrajectoryConstraint.

max_velocity()

units::Velocity RectangularRegionConstraint::max_velocity ( const Pose2d & pose, units::Curvature curvature, units::Velocity velocity ) const

inlineoverridevirtual

Computes maximum allowed velocity at a given pose and path curvature.

Parameters

pose	2D position and orientation.
curvature	Path curvature in rad/meter.
velocity	Candidate linear velocity.

Returns

Constrained units::Velocity limit.

Implements TrajectoryConstraint.

min_max_acceleration()

TrajectoryConstraint::MinMax RectangularRegionConstraint::min_max_acceleration ( const Pose2d & pose, units::Curvature curvature, units::Velocity speed ) const

inlineoverridevirtual

Computes minimum and maximum allowed linear accelerations at a given pose, curvature, and speed.

Parameters

pose	2D position and orientation.
curvature	Path curvature in rad/meter.
speed	Current scalar speed.

Returns

MinMax acceleration bounds struct.

Implements TrajectoryConstraint.

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

• core/math/trajectory/constraints/rectangular_region_constraint.h