MaxVelocityConstraint Class Reference

Trajectory constraint that enforces a strict upper limit on velocity. More...

#include <max_velocity_constraint.h>

Inheritance diagram for MaxVelocityConstraint:

Public Member Functions
	MaxVelocityConstraint (units::Velocity max_velocity)
	Constructs a MaxVelocityConstraint.
units::Velocity	max_velocity (const Pose2d &pose, units::Curvature curvature, units::Velocity velocity) const override
	Computes maximum allowed velocity.
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 enforces a strict upper limit on velocity.

Constructor & Destructor Documentation

MaxVelocityConstraint()

MaxVelocityConstraint::MaxVelocityConstraint ( units::Velocity max_velocity )

inlineexplicit

Constructs a MaxVelocityConstraint.

Parameters

max_velocity

Maximum allowed linear velocity.

Member Function Documentation

clone()

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

inlineoverridevirtual

Creates an independent copy of this constraint.

Returns

Unique pointer to cloned MaxVelocityConstraint instance.

Implements TrajectoryConstraint.

max_velocity()

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

inlineoverridevirtual

Computes maximum allowed velocity.

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 MaxVelocityConstraint::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:

• max_velocity_constraint.h