com.arcrobotics.ftclib.trajectory.constraint

Interface TrajectoryConstraint

All Known Implementing Classes:

CentripetalAccelerationConstraint, DifferentialDriveKinematicsConstraint, DifferentialDriveVoltageConstraint, MecanumDriveKinematicsConstraint, SwerveDriveKinematicsConstraint

public interface TrajectoryConstraint

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

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	TrajectoryConstraint.MinMax Represents a minimum and maximum acceleration.

Method Summary

Modifier and Type	Method and Description
double	getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) Returns the max velocity given the current pose and curvature.
TrajectoryConstraint.MinMax	getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.

Method Detail

getMaxVelocityMetersPerSecond

double getMaxVelocityMetersPerSecond(Pose2d poseMeters,
                                     double curvatureRadPerMeter,
                                     double velocityMetersPerSecond)

Returns the max velocity given the current pose and curvature.

Parameters:

poseMeters - The pose at the current point in the trajectory.

curvatureRadPerMeter - The curvature at the current point in the trajectory.

velocityMetersPerSecond - The velocity at the current point in the trajectory before constraints are applied.

Returns:

The absolute maximum velocity.

getMinMaxAccelerationMetersPerSecondSq

TrajectoryConstraint.MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters,
                                                                   double curvatureRadPerMeter,
                                                                   double velocityMetersPerSecond)

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

Parameters:

poseMeters - The pose at the current point in the trajectory.

curvatureRadPerMeter - The curvature at the current point in the trajectory.

velocityMetersPerSecond - The speed at the current point in the trajectory.

Returns:

The min and max acceleration bounds.