TrajectoryConfig Class Reference

Public Member Functions
	TrajectoryConfig (units::Velocity max_velocity, units::Acceleration max_acceleration)
	Constructs TrajectoryConfig with maximum velocity and acceleration.
	TrajectoryConfig (units::Velocity max_velocity, units::Acceleration max_acceleration, bool reversed)
	Constructs TrajectoryConfig with max velocity, max acceleration, and direction.
	TrajectoryConfig (units::Velocity max_velocity, units::Acceleration max_acceleration, units::Length track_width)
	Constructs TrajectoryConfig with max velocity, max acceleration, and track width constraint.
	TrajectoryConfig (units::Velocity max_velocity, units::Acceleration max_acceleration, const TankKinematics &kinematics)
	Constructs TrajectoryConfig with kinematics model constraint.
	TrajectoryConfig (units::Velocity max_velocity, units::Acceleration max_acceleration, units::Velocity start_velocity, units::Velocity end_velocity, bool reversed)
	Constructs TrajectoryConfig with start/end boundary velocities.
	TrajectoryConfig (units::Velocity max_velocity, units::Acceleration max_acceleration, units::Velocity start_velocity, units::Velocity end_velocity, bool reversed, units::Length track_width)
	Constructs TrajectoryConfig with full parameters.
	TrajectoryConfig (units::Velocity max_velocity, units::Acceleration max_acceleration, units::Velocity start_velocity, units::Velocity end_velocity, bool reversed, const TankKinematics &kinematics)
	Constructs TrajectoryConfig with full parameters and kinematics model.
	TrajectoryConfig (const TrajectoryConfig &other)
	Polymorphic deep-copy constructor.
TrajectoryConfig &	operator= (const TrajectoryConfig &other)
	Polymorphic deep-copy assignment operator.
	TrajectoryConfig (TrajectoryConfig &&)=default
	Move constructor.
TrajectoryConfig &	operator= (TrajectoryConfig &&)=default
	Move assignment.
void	add_event (const std::string &name, units::Length distance)
	Adds an event triggered at a distance along the trajectory.
void	set_start_velocity (units::Velocity start_velocity)
void	set_end_velocity (units::Velocity end_velocity)
	Sets final trajectory velocity.
void	set_reversed (bool reversed)
	Sets direction flag (reversed = true for driving backward).
void	set_sample_ds (units::Length sample_ds)
	Sets spatial discretization step size for spline sampling.
void	set_spline_order (SplinePath::Order order)
	Sets spline order.
void	set_error_handler (std::function< void(const char *)> handler)
	Sets error handler for trajectory generation failures.
template<typename Constraint>
std::enable_if< std::is_base_of< TrajectoryConstraint, typenamestd::decay< Constraint >::type >::value, void >::type	add_constraint (Constraint &&constraint)
	Adds a user-defined TrajectoryConstraint.
void	set_track_width (units::Length track_width, units::Velocity max_wheel_speed, units::Acceleration max_wheel_acceleration)
	Adds a TankKinematicsConstraint using track width and explicit wheel limits.
void	set_track_width (units::Length track_width, units::Velocity max_wheel_speed)
	Adds a TankKinematicsConstraint using track width and explicit max wheel speed limit.
void	set_track_width (units::Length track_width)
	Adds a TankKinematicsConstraint using track width and config max velocity.
void	set_kinematics (const TankKinematics &kinematics, units::Velocity max_wheel_speed, units::Acceleration max_wheel_acceleration)
	Adds a TankKinematicsConstraint using TankKinematics and explicit limits.
void	set_kinematics (const TankKinematics &kinematics, units::Velocity max_wheel_speed)
	Adds a TankKinematicsConstraint using TankKinematics and explicit max wheel speed limit.
void	set_kinematics (const TankKinematics &kinematics)
	Adds a TankKinematicsConstraint using TankKinematics and config max velocity.
units::Velocity	start_velocity () const
units::Velocity	end_velocity () const
units::Velocity	max_velocity () const
units::Acceleration	max_acceleration () const
units::Length	sample_ds () const
const std::vector< std::unique_ptr< TrajectoryConstraint > > &	constraints () const
const std::vector< DistanceEvent > &	events () const
bool	is_reversed () const
SplinePath::Order	spline_order () const
const std::function< void(const char *)> &	error_handler () const

Constructor & Destructor Documentation

TrajectoryConfig() [1/5]

TrajectoryConfig::TrajectoryConfig ( units::Velocity max_velocity, units::Acceleration max_acceleration )

inline

Constructs TrajectoryConfig with maximum velocity and acceleration.

Parameters

max_velocity	Maximum physical chassis velocity limit.
max_acceleration	Maximum physical chassis acceleration limit.

TrajectoryConfig() [2/5]

TrajectoryConfig::TrajectoryConfig ( units::Velocity max_velocity, units::Acceleration max_acceleration, bool reversed )

inline

Constructs TrajectoryConfig with max velocity, max acceleration, and direction.

Parameters

max_velocity	Max velocity limit.
max_acceleration	Max acceleration limit.
reversed	True to generate path in reverse direction.

TrajectoryConfig() [3/5]

TrajectoryConfig::TrajectoryConfig ( units::Velocity max_velocity, units::Acceleration max_acceleration, units::Length track_width )

inline

Constructs TrajectoryConfig with max velocity, max acceleration, and track width constraint.

Parameters

max_velocity	Max velocity limit.
max_acceleration	Max acceleration limit.
track_width	Drivetrain track width for kinematics constraints.

TrajectoryConfig() [4/5]

TrajectoryConfig::TrajectoryConfig ( units::Velocity max_velocity, units::Acceleration max_acceleration, const TankKinematics & kinematics )

inline

Constructs TrajectoryConfig with kinematics model constraint.

Parameters

max_velocity	Max velocity limit.
max_acceleration	Max acceleration limit.
kinematics	Differential drive kinematics model.

TrajectoryConfig() [5/5]

TrajectoryConfig::TrajectoryConfig ( units::Velocity max_velocity, units::Acceleration max_acceleration, units::Velocity start_velocity, units::Velocity end_velocity, bool reversed )

inline

Constructs TrajectoryConfig with start/end boundary velocities.

Parameters

max_velocity	Max velocity limit.
max_acceleration	Max acceleration limit.
start_velocity	Initial trajectory velocity.
end_velocity	Final trajectory velocity.
reversed	Direction flag.

Member Function Documentation

add_constraint()

template<typename Constraint>

std::enable_if< std::is_base_of< TrajectoryConstraint, typenamestd::decay< Constraint >::type >::value, void >::type TrajectoryConfig::add_constraint ( Constraint && constraint )

inline

Adds a user-defined TrajectoryConstraint.

Template Parameters

Constraint

Constraint class inheriting from TrajectoryConstraint.

Parameters

constraint

Constraint instance to add.

constraints()

const std::vector< std::unique_ptr< TrajectoryConstraint > > & TrajectoryConfig::constraints ( ) const

inline

Returns

Vector of polymorphic trajectory constraint pointers.

end_velocity()

units::Velocity TrajectoryConfig::end_velocity ( ) const

inline

Returns

Final trajectory velocity.

error_handler()

const std::function< void(const char *)> & TrajectoryConfig::error_handler ( ) const

inline

Returns

Error handler callback.

is_reversed()

bool TrajectoryConfig::is_reversed ( ) const

inline

Returns

True if trajectory is driven in reverse.

max_acceleration()

units::Acceleration TrajectoryConfig::max_acceleration ( ) const

inline

Returns

Maximum physical acceleration limit.

max_velocity()

units::Velocity TrajectoryConfig::max_velocity ( ) const

inline

Returns

Maximum physical velocity limit.

sample_ds()

units::Length TrajectoryConfig::sample_ds ( ) const

inline

Returns

Spatial sampling step size for path generation.

spline_order()

SplinePath::Order TrajectoryConfig::spline_order ( ) const

inline

Returns

Spline order used for path generation.

start_velocity()

units::Velocity TrajectoryConfig::start_velocity ( ) const

inline

Returns

Initial trajectory velocity.

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

• core/math/trajectory/trajectory_config.h