Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Refactor TrajectoryGenerator (#1972)

Browse Source
This commit is contained in:
Prateek Machiraju
2019-10-26 12:39:47 -04:00
committed by Peter Johnson
parent 73a30182c3
commit 9440edf2b5
23 changed files with 825 additions and 629 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
wpilibc/src/test/native/include/trajectory/TestTrajectory.h
View File

@@ -18,17 +18,13 @@
namespace frc {
class TestTrajectory {
public:
static Trajectory GetTrajectory(
std::vector<std::unique_ptr<TrajectoryConstraint>>&& constraints) {
const units::meters_per_second_t startVelocity = 0_mps;
const units::meters_per_second_t endVelocity = 0_mps;
const units::meters_per_second_t maxVelocity = 12_fps;
const units::meters_per_second_squared_t maxAcceleration = 12_fps_sq;
static Trajectory GetTrajectory(TrajectoryConfig& config) {
// 2018 cross scale auto waypoints
const Pose2d sideStart{1.54_ft, 23.23_ft, Rotation2d(180_deg)};
const Pose2d crossScale{23.7_ft, 6.8_ft, Rotation2d(-160_deg)};
config.SetReversed(true);
auto vector = std::vector<Translation2d>{
(sideStart + Transform2d{Translation2d(-13_ft, 0_ft), Rotation2d()})
.Translation(),
@@ -36,9 +32,8 @@ class TestTrajectory {
Transform2d{Translation2d(-19.5_ft, 5.0_ft), Rotation2d(-90_deg)})
.Translation()};
return TrajectoryGenerator::GenerateTrajectory(
sideStart, vector, crossScale, std::move(constraints), startVelocity,
endVelocity, maxVelocity, maxAcceleration, true);
return TrajectoryGenerator::GenerateTrajectory(sideStart, vector,
crossScale, config);
}
};