#include <trajectory.h>

Description

Represents a single discrete state sample along a trajectory.

Public Member Functions
	State ()=default
	Default constructor.
	State (units::Time t, units::Velocity velocity, units::Acceleration acceleration, Pose2d pose, units::Curvature curvature, units::Length s=0_in)
	Constructs a Trajectory State with explicit values.
bool	operator== (const State &other) const
	Checks equality between two States.
State	interpolate (State end_value, double i) const
	Linearly interpolates between this state and end_value at fraction i in [0, 1].
ChassisVelocities	chassis_velocities () const
ChassisAccelerations	chassis_accelerations () const
TankWheelVelocities	to_wheel_velocities (const TankKinematics &kin) const
TankWheelAccelerations	to_wheel_accelerations (const TankKinematics &kin) const

Public Attributes
units::Time	t = 0_s
	Elapsed time from trajectory start.
units::Length	s = 0_in
	Distance along trajectory.
units::Velocity	velocity = 0_inps
	Linear chassis velocity.
units::Acceleration	acceleration = 0_inps2
	Linear chassis acceleration.
Pose2d	pose {}
	2D robot pose (x, y, theta)
units::Curvature	curvature = 0_radpm
	Path curvature at pose.

Constructor & Destructor Documentation

inline

Constructs a Trajectory State with explicit values.

Parameters

State Trajectory::State::interpolate	(	State	end_value,
		double	i ) const

inline

Linearly interpolates between this state and end_value at fraction i in [0, 1].

Parameters

end_value	Target state for interpolation.
i	Interpolation fraction ratio [0, 1].

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