#include <constraints.hpp>

Public Member Functions
	Constraints (double imax_vel, double imax_accel=std::numeric_limits< double >::max(), double imax_jerk=std::numeric_limits< double >::max(), double imax_curvature=1000, double imin_accel=std::nan(""))
	Defines the motion constraints for a path.

std::string	to_string () const
	Serializes the Constraints data for debugging.

Public Attributes
double	max_vel

double	max_accel

double	max_jerk

double	min_accel

double	max_curvature

Detailed Description

Definition at line 14 of file constraints.hpp.

Constructor & Destructor Documentation

◆ Constraints()

squiggles::Constraints::Constraints	(	double	imax_vel,
		double	imax_accel = `std::numeric_limits<double>::max()`,
		double	imax_jerk = `std::numeric_limits<double>::max()`,
		double	imax_curvature = `1000`,
		double	imin_accel = `std::nan("")`
	)

inline

Defines the motion constraints for a path.

Parameters

imax_vel	The maximum allowable velocity for the robot in meters per second.
imax_accel	The maximum allowable acceleration for the robot in meters per second per second.
imax_jerk	The maximum allowable jerk for the robot in meters per second per second per second (m/s^3).
imax_curvature	The maximum allowable change in heading in radians per second. This is not set to the numeric limits by default as that will allow for wild paths.
imin_accel	The minimum allowable acceleration for the robot in meters per second per second.

Definition at line 30 of file constraints.hpp.

Member Function Documentation

◆ to_string()

std::string squiggles::Constraints::to_string ( ) const

inline

Serializes the Constraints data for debugging.

Returns: The Constraints data.

Definition at line 51 of file constraints.hpp.

Member Data Documentation

◆ max_accel

double squiggles::Constraints::max_accel

Definition at line 59 of file constraints.hpp.

◆ max_curvature

double squiggles::Constraints::max_curvature

Definition at line 62 of file constraints.hpp.

◆ max_jerk

double squiggles::Constraints::max_jerk

Definition at line 60 of file constraints.hpp.

◆ max_vel

double squiggles::Constraints::max_vel

Definition at line 58 of file constraints.hpp.

◆ min_accel

double squiggles::Constraints::min_accel

Definition at line 61 of file constraints.hpp.

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

include/okapi/squiggles/constraints.hpp

Public Member Functions

Public Attributes