Struct Constraints¶
Defined in File constraints.hpp
Struct Documentation¶
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struct squiggles::Constraints¶
Public Functions
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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.
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inline std::string to_string() const¶
Serializes the Constraints data for debugging.
- Returns
The Constraints data.
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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(""))¶