BangBangTrajectory1DAngular Class Reference

Inheritance diagram for BangBangTrajectory1DAngular:

Collaboration diagram for BangBangTrajectory1DAngular:

Public Member Functions
	BangBangTrajectory1DAngular (Angle initial_orient, Angle final_orient, AngularVelocity initial_angular_vel, AngularVelocity max_angular_vel, AngularAcceleration max_angular_accel, AngularAcceleration max_angular_decel)
void	generate (Angle initial_orient, Angle final_orient, AngularVelocity initial_angular_vel, AngularVelocity max_angular_vel, AngularAcceleration max_angular_accel, AngularAcceleration max_angular_decel)
Angle	getPosition (double t_sec) const override
AngularVelocity	getVelocity (double t_sec) const override
AngularAcceleration	getAcceleration (double t_sec) const override
double	getTotalTime () const override
Public Member Functions inherited from Trajectory< Angle, AngularVelocity, AngularAcceleration >
Angle	getDestination () const

Constructor & Destructor Documentation

BangBangTrajectory1DAngular()

BangBangTrajectory1DAngular	(	Angle	initial_orient,
		Angle	final_orient,
		AngularVelocity	initial_angular_vel,
		AngularVelocity	max_angular_vel,
		AngularAcceleration	max_angular_accel,
		AngularAcceleration	max_angular_decel
	)

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

Note

Refer to BangBangTrajectory1DAngular::generate for more details

Parameters

initial_orient	Starting orientation of the trajectory
final_orient	Destination. Where the trajectory should end at
initial_angular_vel	The angular velocity at the start of the trajectory
max_angular_vel	The maximum angular velocity (magnitude) the trajectory could have
max_angular_accel	The maximum angular acceleration the trajectory could have
max_angular_decel	The maximum deceleration the trajectory could have

Member Function Documentation

generate()

void generate	(	Angle	initial_orient,
		Angle	final_orient,
		AngularVelocity	initial_angular_vel,
		AngularVelocity	max_angular_vel,
		AngularAcceleration	max_angular_accel,
		AngularAcceleration	max_angular_decel
	)

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

Note

The generated trajectory will be the shortest between the two orientations. E.g. Rotating from 0 to 360 degrees will generate a trajectory with no rotation.

This method will overwrite the existing trajectory.

The generated trajectory will always have a final angular velocity of 0

Parameters

initial_orient	Starting orientation of the trajectory
final_orient	Destination. Where the trajectory should end at
initial_angular_vel	The angular velocity at the start of the trajectory
max_angular_vel	The maximum angular velocity (magnitude) the trajectory could have
max_angular_accel	The maximum angular acceleration the trajectory could have
max_angular_decel	The maximum deceleration the trajectory could have

getAcceleration()

AngularAcceleration getAcceleration ( double  t_sec ) const

overridevirtual

Get angular acceleration at time t

Parameters

t_sec

Duration elapsed since start of trajectory in seconds

Returns

The angular acceleration at time t

Implements Trajectory< Angle, AngularVelocity, AngularAcceleration >.

getPosition()

Angle getPosition ( double  t_sec ) const

overridevirtual

Get orientation at time t

Parameters

t_sec

Duration elapsed since start of trajectory in seconds

Returns

The orientation at time t

Implements Trajectory< Angle, AngularVelocity, AngularAcceleration >.

getTotalTime()

double getTotalTime ( ) const

overridevirtual

Get total runtime of trajectory

Returns

total time for trajectory

Implements Trajectory< Angle, AngularVelocity, AngularAcceleration >.

getVelocity()

AngularVelocity getVelocity ( double  t_sec ) const

overridevirtual

Get angular velocity at time t

Parameters

t_sec

Duration elapsed since start of trajectory in seconds

Returns

The angular velocity at time t

Implements Trajectory< Angle, AngularVelocity, AngularAcceleration >.

---

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

• src/software/ai/navigator/trajectory/bang_bang_trajectory_1d_angular.h
• src/software/ai/navigator/trajectory/bang_bang_trajectory_1d_angular.cpp