Struct Constraints

Struct Documentation

struct squiggles::Constraints

Public Functions

inline Constraints(double imax_vel, double imax_accel = std::numeric_limits<double>::max(), double imax_jerk = std::numeric_limits<double>::max(), double imax_curvature = 1000, double imin_accel = std::nan(""))

Defines the motion constraints for a path.

Parameters
  • imax_vel – The maximum allowable velocity for the robot in meters per second.

  • imax_accel – The maximum allowable acceleration for the robot in meters per second per second.

  • imax_jerk – The maximum allowable jerk for the robot in meters per second per second per second (m/s^3).

  • imax_curvature – The maximum allowable change in heading in radians per second. This is not set to the numeric limits by default as that will allow for wild paths.

  • imin_accel – The minimum allowable acceleration for the robot in meters per second per second.

inline std::string to_string() const

Serializes the Constraints data for debugging.

Returns

The Constraints data.

Public Members

double max_vel
double max_accel
double max_jerk
double min_accel
double max_curvature