Class Trajectory

Class Documentation

class Trajectory

Class used to compute differential drive trajectories.

Public Functions

Trajectory(std::vector<Math::Pose2D> waypoints, Units::Velocity maxVel, Units::Acceleration maxAccel, Units::Length maxFullSpeedTurnRadius, Units::Velocity finalVel = 0_mps)

Constructor

Parameters

  • waypoints –

  • maxVel –

  • maxAccel –

  • maxFullSpeedTurnRadius –

  • finalVel –

int size()

Returns the number of points in the computed path

Units::Length getX(int i)

Gets the computed x-position at the given index

Units::Length getY(int i)

Gets the computed y-position at the given index

Units::Angle getTheta(int i)

Gets the computed heading at the given index

Units::Velocity getVelocity(int i)

Gets the computed velocity at the given index

Units::AngularVelocity getAngularVelocity(int i)

Gets the computed angular velocity at the given index

Units::Length getDistFromStart(int i)

Gets the arc length from the start of the path to the point at the given index