TrajectoryConstraint Class Reference

#include <trajectory_constraint.h>

Description

Interface for defining physical trajectory velocity and acceleration constraints.

Inheritance diagram for TrajectoryConstraint:

Classes
struct	MinMax
	Struct representing minimum and maximum allowed linear accelerations. More...

Public Member Functions
	TrajectoryConstraint (const TrajectoryConstraint &)=default
TrajectoryConstraint &	operator= (const TrajectoryConstraint &)=default
	TrajectoryConstraint (TrajectoryConstraint &&)=default
TrajectoryConstraint &	operator= (TrajectoryConstraint &&)=default
virtual units::Velocity	max_velocity (const Pose2d &pose, units::Curvature curvature, units::Velocity velocity) const =0
	Computes maximum allowed velocity at a given pose and path curvature.
virtual MinMax	min_max_acceleration (const Pose2d &pose, units::Curvature curvature, units::Velocity speed) const =0
	Computes minimum and maximum allowed linear accelerations at a given pose, curvature, and speed.
virtual std::unique_ptr< TrajectoryConstraint >	clone () const =0
	Creates an independent copy of this constraint.

Member Function Documentation

clone()

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

pure virtual

Creates an independent copy of this constraint.

Returns

Unique pointer to cloned TrajectoryConstraint instance.

Implemented in CentripetalAccelerationConstraint, MaxVelocityConstraint, RectangularRegionConstraint, TankKinematicsConstraint, and TankVoltageConstraint.

max_velocity()

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

pure virtual

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.

Implemented in CentripetalAccelerationConstraint, MaxVelocityConstraint, RectangularRegionConstraint, TankKinematicsConstraint, and TankVoltageConstraint.

min_max_acceleration()

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

pure virtual

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.

Implemented in CentripetalAccelerationConstraint, MaxVelocityConstraint, RectangularRegionConstraint, TankKinematicsConstraint, and TankVoltageConstraint.

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

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