Package com.lightningrobotics.common.auto.trajectory

Interface TrajectoryConstraint

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	Description
static class	TrajectoryConstraint.AccelerationLimit	Represents a minimum and maximum acceleration.

Method Summary

Modifier and Type	Method	Description
double	getMaxVelocityMetersPerSecond(edu.wpi.first.math.geometry.Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)	Returns the max velocity given the current pose and curvature.
TrajectoryConstraint.AccelerationLimit	getMinMaxAccelerationMetersPerSecondSq(edu.wpi.first.math.geometry.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(edu.wpi.first.math.geometry.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.AccelerationLimit getMinMaxAccelerationMetersPerSecondSq(edu.wpi.first.math.geometry.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.