trajectory.hpp File Reference

Time-parameterized trajectory over a Spline. More...

#include <vector>
#include "LightLib/path/spline.hpp"

Go to the source code of this file.

Classes
struct	light::TrajConstraints
	Kinematic limits used by the trajectory generator. More...
struct	light::TrajState
	One sample of a time-parameterized trajectory. More...
class	light::Trajectory
	Time-parameterized trajectory: dense state table + total duration. More...

Namespaces
namespace	light
	Public LightLib odometry / pose-estimation API.

Functions
Trajectory	light::generateTrajectory (const std::vector< Waypoint > &wps, const TrajConstraints &cons, bool reversed=false)
	Generate a time-parameterized trajectory from waypoints.

Detailed Description

Time-parameterized trajectory over a Spline.

A Trajectory is a dense table of states sampled every 10 ms (the RAMSETE control period). It is produced once by generateTrajectory() from a list of Waypoints and consumed by light::followTrajectory().

Each TrajState carries pose, linear velocity v, angular velocity ω = v·κ, and the linear acceleration a needed by the per-wheel feedforward.

Definition in file trajectory.hpp.