Package edu.wpi.first.math.trajectory.constraint

Class EllipticalRegionConstraint

java.lang.Object

edu.wpi.first.math.trajectory.constraint.EllipticalRegionConstraint

All Implemented Interfaces:

TrajectoryConstraint

public class EllipticalRegionConstraint
extends Object
implements TrajectoryConstraint

Enforces a particular constraint only within an elliptical region.

Nested Class Summary

Nested classes/interfaces inherited from interface edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint

TrajectoryConstraint.MinMax

Constructor Summary

Constructors

Constructor	Description
EllipticalRegionConstraint(Translation2d center, double xWidth, double yWidth, Rotation2d rotation, TrajectoryConstraint constraint)	Constructs a new EllipticalRegionConstraint.

Method Summary

Modifier and Type	Method	Description
double	getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)	Returns the max velocity given the current pose and curvature.
TrajectoryConstraint.MinMax	getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)	Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.
boolean	isPoseInRegion(Pose2d robotPose)	Returns whether the specified robot pose is within the region that the constraint is enforced in.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

EllipticalRegionConstraint

public EllipticalRegionConstraint(Translation2d center, double xWidth, double yWidth, Rotation2d rotation, TrajectoryConstraint constraint)

Constructs a new EllipticalRegionConstraint.

Parameters:

center - The center of the ellipse in which to enforce the constraint.

xWidth - The width of the ellipse in which to enforce the constraint.

yWidth - The height of the ellipse in which to enforce the constraint.

rotation - The rotation to apply to all radii around the origin.

constraint - The constraint to enforce when the robot is within the region.

Method Details

getMaxVelocityMetersPerSecond

public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)

Description copied from interface: TrajectoryConstraint

Returns the max velocity given the current pose and curvature.

Specified by:

getMaxVelocityMetersPerSecond in interface TrajectoryConstraint

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

public TrajectoryConstraint.MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)

Description copied from interface: TrajectoryConstraint

Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.

Specified by:

getMinMaxAccelerationMetersPerSecondSq in interface TrajectoryConstraint

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.

isPoseInRegion

public boolean isPoseInRegion(Pose2d robotPose)

Returns whether the specified robot pose is within the region that the constraint is enforced in.

Parameters:

robotPose - The robot pose.

Returns:

Whether the robot pose is within the constraint region.