TankVoltageConstraint Class Reference

Trajectory constraint that limits acceleration based on available battery voltage and motor capabilities. More...

#include <tank_voltage_constraint.h>

Inheritance diagram for TankVoltageConstraint:

Public Member Functions
	TankVoltageConstraint (units::LinearVelocityFeedforward Kv, units::LinearAccelerationFeedforward Ka, units::Voltage max_voltage, units::Length track_width)
	Constructs a TankVoltageConstraint from track width.
	TankVoltageConstraint (units::LinearVelocityFeedforward Kv, units::LinearAccelerationFeedforward Ka, units::Voltage max_voltage, const TankKinematics &kinematics)
	Constructs a TankVoltageConstraint from TankKinematics.
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 based on voltage limits.
std::unique_ptr< TrajectoryConstraint >	clone () const override
	Creates an independent copy of this constraint.

Detailed Description

Trajectory constraint that limits acceleration based on available battery voltage and motor capabilities.

Constructor & Destructor Documentation

TankVoltageConstraint() [1/2]

TankVoltageConstraint::TankVoltageConstraint ( units::LinearVelocityFeedforward Kv, units::LinearAccelerationFeedforward Ka, units::Voltage max_voltage, units::Length track_width )

inline

Constructs a TankVoltageConstraint from track width.

Parameters

Kv	Linear velocity feedforward constant.
Ka	Linear acceleration feedforward constant.
max_voltage	Maximum available voltage.
track_width	Robot track width (distance between left and right wheels).

TankVoltageConstraint() [2/2]

TankVoltageConstraint::TankVoltageConstraint ( units::LinearVelocityFeedforward Kv, units::LinearAccelerationFeedforward Ka, units::Voltage max_voltage, const TankKinematics & kinematics )

inline

Constructs a TankVoltageConstraint from TankKinematics.

Parameters

Kv	Linear velocity feedforward constant.
Ka	Linear acceleration feedforward constant.
max_voltage	Maximum available voltage.
kinematics	Kinematics model for tank drive.

Member Function Documentation

clone()

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

inlineoverridevirtual

Creates an independent copy of this constraint.

Returns

Unique pointer to cloned TankVoltageConstraint instance.

Implements TrajectoryConstraint.

max_velocity()

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

inlineoverridevirtual

Computes minimum and maximum allowed linear accelerations based on voltage limits.

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_voltage_constraint.h