TankKinematicsConstraint Class Reference

Trajectory constraint that limits velocity and acceleration based on tank drive kinematics and maximum wheel constraints. More...

#include <tank_kinematics_constraint.h>

Inheritance diagram for TankKinematicsConstraint:

Public Member Functions
	TankKinematicsConstraint (units::Length track_width, units::Velocity max_speed, units::Acceleration max_acceleration=10000_inps2)
	Constructs a TankKinematicsConstraint.
	TankKinematicsConstraint (const TankKinematics &kinematics, units::Velocity max_speed, units::Acceleration max_acceleration=10000_inps2)
	Constructs a TankKinematicsConstraint from TankKinematics.
units::Velocity	max_velocity (const Pose2d &pose, units::Curvature curvature, units::Velocity velocity) const override
	Computes maximum allowed chassis velocity to keep wheel speeds within limits during turns.
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 velocity and acceleration based on tank drive kinematics and maximum wheel constraints.

Constructor & Destructor Documentation

TankKinematicsConstraint() [1/2]

TankKinematicsConstraint::TankKinematicsConstraint ( units::Length track_width, units::Velocity max_speed, units::Acceleration max_acceleration = 10000_inps2 )

inline

Constructs a TankKinematicsConstraint.

Parameters

track_width	Robot track width (distance between left and right wheels).
max_speed	Maximum allowed speed of a single wheel.
max_acceleration	Maximum allowed acceleration of a single wheel.

TankKinematicsConstraint() [2/2]

TankKinematicsConstraint::TankKinematicsConstraint ( const TankKinematics & kinematics, units::Velocity max_speed, units::Acceleration max_acceleration = 10000_inps2 )

inline

Constructs a TankKinematicsConstraint from TankKinematics.

Parameters

kinematics	Differential drive kinematics model.
max_speed	Maximum allowed speed of a single wheel.
max_acceleration	Maximum allowed acceleration of a single wheel.

Member Function Documentation

clone()

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

inlineoverridevirtual

Creates an independent copy of this constraint.

Returns

Unique pointer to cloned TankKinematicsConstraint instance.

Implements TrajectoryConstraint.

max_velocity()

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

inlineoverridevirtual

Computes maximum allowed chassis velocity to keep wheel speeds within limits during turns.

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 TankKinematicsConstraint::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:

• tank_kinematics_constraint.h