CentripetalAccelerationConstraint Class Reference

Trajectory constraint that limits maximum velocity to prevent excessive centripetal acceleration. More...

#include <centripetal_acceleration_constraint.h>

Inheritance diagram for CentripetalAccelerationConstraint:

Public Member Functions
	CentripetalAccelerationConstraint (units::Acceleration max_centripetal_acceleration)
	Constructs a CentripetalAccelerationConstraint.
units::Velocity	max_velocity (const Pose2d &pose, units::Curvature curvature, units::Velocity velocity) const override
	Computes maximum allowed velocity based on path curvature and centripetal acceleration limits.
MinMax	min_max_acceleration (const Pose2d &pose, units::Curvature curvature, units::Velocity speed) const override
	Computes minimum and maximum allowed linear accelerations.
std::unique_ptr< TrajectoryConstraint >	clone () const override
	Creates an independent copy of this constraint.

Detailed Description

Trajectory constraint that limits maximum velocity to prevent excessive centripetal acceleration.

Constructor & Destructor Documentation

CentripetalAccelerationConstraint()

CentripetalAccelerationConstraint::CentripetalAccelerationConstraint ( units::Acceleration max_centripetal_acceleration )

inlineexplicit

Constructs a CentripetalAccelerationConstraint.

Parameters

max_centripetal_acceleration

Maximum allowed centripetal acceleration.

Member Function Documentation

clone()

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

inlineoverridevirtual

Creates an independent copy of this constraint.

Returns

Unique pointer to cloned CentripetalAccelerationConstraint instance.

Implements TrajectoryConstraint.

max_velocity()

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

inlineoverridevirtual

Computes maximum allowed velocity based on path curvature and centripetal acceleration limits.

Parameters

pose	2D position and orientation.
curvature	Path curvature in rad/meter.
velocity	Candidate linear velocity.

Returns

Constrained units::Velocity limit.

Implements TrajectoryConstraint.

min_max_acceleration()

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

inlineoverridevirtual

Computes minimum and maximum allowed linear accelerations.

Parameters

pose	2D position and orientation.
curvature	Path curvature in rad/meter.
speed	Current scalar speed.

Returns

MinMax acceleration bounds struct.

Implements TrajectoryConstraint.

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

• centripetal_acceleration_constraint.h