pathplanner::PathConstraints Class Reference

Public Member Functions
constexpr	PathConstraints (units::meters_per_second_t maxVel, units::meters_per_second_squared_t maxAccel, units::radians_per_second_t maxAngularVel, units::radians_per_second_squared_t maxAngularAccel, units::volt_t nominalVoltage=12_V, bool unlimited=false)
constexpr units::meters_per_second_t	getMaxVelocity () const
constexpr units::meters_per_second_squared_t	getMaxAcceleration () const
constexpr units::radians_per_second_t	getMaxAngularVelocity () const
constexpr units::radians_per_second_squared_t	getMaxAngularAcceleration () const
constexpr units::volt_t	getNominalVoltage () const
constexpr bool	isUnlimited () const
bool	operator== (const PathConstraints &other) const

Static Public Member Functions
static PathConstraints	fromJson (const wpi::json &json)
static constexpr PathConstraints	unlimitedConstraints (units::volt_t nominalVoltage)

Constructor & Destructor Documentation

PathConstraints()

constexpr pathplanner::PathConstraints::PathConstraints ( units::meters_per_second_t  maxVel, units::meters_per_second_squared_t  maxAccel, units::radians_per_second_t  maxAngularVel, units::radians_per_second_squared_t  maxAngularAccel, units::volt_t  nominalVoltage = 12_V, bool  unlimited = false  )

inlineconstexpr

Create a new path constraints object

Parameters

maxVel	Max linear velocity (M/S)
maxAccel	Max linear acceleration (M/S^2)
maxAngularVel	Max angular velocity (Deg/S)
maxAngularAccel	Max angular acceleration (Deg/S^2)
nominalVoltage	The nominal battery voltage (Volts)
unlimited	Should the constraints be unlimited

Member Function Documentation

fromJson()

PathConstraints PathConstraints::fromJson ( const wpi::json &  json )

static

Create a path constraints object from json

Parameters

json	json reference representing a path constraints object

Returns

The path constraints defined by the given json

getMaxAcceleration()

constexpr units::meters_per_second_squared_t pathplanner::PathConstraints::getMaxAcceleration ( ) const

inlineconstexpr

Get the max linear acceleration

Returns

Max linear acceleration (M/S^2)

getMaxAngularAcceleration()

constexpr units::radians_per_second_squared_t pathplanner::PathConstraints::getMaxAngularAcceleration ( ) const

inlineconstexpr

Get the max angular acceleration

Returns

Max angular acceleration (Rad/S^2)

getMaxAngularVelocity()

constexpr units::radians_per_second_t pathplanner::PathConstraints::getMaxAngularVelocity ( ) const

inlineconstexpr

Get the max angular velocity

Returns

Max angular velocity (Rad/S)

getMaxVelocity()

constexpr units::meters_per_second_t pathplanner::PathConstraints::getMaxVelocity ( ) const

inlineconstexpr

Get the max linear velocity

Returns

Max linear velocity (M/S)

getNominalVoltage()

constexpr units::volt_t pathplanner::PathConstraints::getNominalVoltage ( ) const

inlineconstexpr

Get the nominal voltage

Returns

Nominal Voltage (Volts)

unlimitedConstraints()

static constexpr PathConstraints pathplanner::PathConstraints::unlimitedConstraints ( units::volt_t  nominalVoltage )

inlinestaticconstexpr

Get unlimited PathConstraints

Parameters

nominalVoltage

The nominal battery voltage (Volts)

Returns

Unlimited constraints

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The documentation for this class was generated from the following files:

• src/main/native/include/pathplanner/lib/path/PathConstraints.h
• src/main/native/cpp/pathplanner/lib/path/PathConstraints.cpp