BangBangTrajectory1D Class Reference

Inheritance diagram for BangBangTrajectory1D:

Collaboration diagram for BangBangTrajectory1D:

Classes
struct	TrajectoryPart

Public Member Functions
	BangBangTrajectory1D ()
void	generate (double initial_pos, double final_pos, double initial_vel, double max_vel, double max_accel, double max_decel)
double	getPosition (double t_sec) const override
double	getVelocity (double t_sec) const override
double	getAcceleration (double t_sec) const override
double	getTotalTime () const override
std::pair< double, double >	getMinMaxPositions () const
const TrajectoryPart &	getTrajectoryPart (size_t index) const
size_t	getNumTrajectoryParts () const
Public Member Functions inherited from Trajectory< double, double, double >
double	getDestination () const

Constructor & Destructor Documentation

BangBangTrajectory1D()

BangBangTrajectory1D

(

)

Constructor

Member Function Documentation

generate()

void generate	(	double	initial_pos,
		double	final_pos,
		double	initial_vel,
		double	max_vel,
		double	max_accel,
		double	max_decel
	)

Generate a 1D trajectory from the initial position to the final position with the given initial velocity and kinematic constraints.

Note

This method will overwrite the existing trajectory.

The generated trajectory will always have a final velocity of 0

Parameters

initial_pos	Starting position of the trajectory
final_pos	Destination. Where the trajectory should end at
initial_vel	The velocity at the start of the trajectory
max_vel	The maximum velocity (magnitude) the trajectory could have. Must be non-zero.
max_accel	The maximum acceleration the trajectory could have. Must be non-zero.
max_decel	The maximum deceleration the trajectory could have. Must be non-zero.

getAcceleration()

double getAcceleration ( double  t_sec ) const

overridevirtual

Get acceleration at time t

Parameters

t_sec

Duration elapsed since start of trajectory in seconds

Returns

The acceleration at time t

Implements Trajectory< double, double, double >.

getMinMaxPositions()

std::pair< double, double > getMinMaxPositions

(

)

const

Get the minimum and maximum positions that the trajectory will reach

Returns

A pair where the first value is the minimum and the second value is the maximum positions

getNumTrajectoryParts()

size_t getNumTrajectoryParts

(

)

const

Get the number of trajectory parts that make up the generated trajectory.

Returns

The number of trajectory parts

getPosition()

double getPosition ( double  t_sec ) const

overridevirtual

Get position at time t

Parameters

t_sec

Duration elapsed since start of trajectory in seconds

Returns

The position at time t

Implements Trajectory< double, double, double >.

getTotalTime()

double getTotalTime ( ) const

inlineoverridevirtual

Get total runtime of trajectory

Returns

total time for trajectory

Implements Trajectory< double, double, double >.

getTrajectoryPart()

const BangBangTrajectory1D::TrajectoryPart & getTrajectoryPart

(

size_t

index

)

const

Get the trajectory part at index that makes up the generated trajectory

Note

Crashes if index is out of bound

Returns

Trajectory parts

getVelocity()

double getVelocity ( double  t_sec ) const

overridevirtual

Get velocity at time t

Parameters

t_sec

Duration elapsed since start of trajectory in seconds

Returns

The velocity at time t

Implements Trajectory< double, double, double >.

---

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

• src/software/ai/navigator/trajectory/bang_bang_trajectory_1d.h
• src/software/ai/navigator/trajectory/bang_bang_trajectory_1d.cpp