light::TrajConstraints Struct Reference

Kinematic limits used by the trajectory generator. More...

#include <trajectory.hpp>

Public Attributes
float	vMax = 48.0f
	Max linear speed, in/s.
float	aMax = 60.0f
	Max forward accel, in/s².
float	aDecMax = 60.0f
	Max decel, in/s² (split so downshift-heavy).
float	aLatMax = 60.0f
	Max lateral (centripetal) accel, in/s².

Detailed Description

Kinematic limits used by the trajectory generator.

Definition at line 17 of file trajectory.hpp.

Member Data Documentation

aDecMax

float light::TrajConstraints::aDecMax = 60.0f

Max decel, in/s² (split so downshift-heavy).

Definition at line 20 of file trajectory.hpp.

aLatMax

float light::TrajConstraints::aLatMax = 60.0f

Max lateral (centripetal) accel, in/s².

Definition at line 21 of file trajectory.hpp.

aMax

float light::TrajConstraints::aMax = 60.0f

Max forward accel, in/s².

Definition at line 19 of file trajectory.hpp.

vMax

float light::TrajConstraints::vMax = 48.0f

Max linear speed, in/s.

Definition at line 18 of file trajectory.hpp.

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

• include/LightLib/drive/trajectory.hpp