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Add generateTrajectory overload (#1944)

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Add an overload for the generateTrajectory method that accepts a DifferentialDriveKinematics instance instead of a list of constraints. This instance is used to automatically create a DifferentialDriveKinematicsConstraint behind the scenes, saving the user some verbosity.
This commit is contained in:
Prateek Machiraju
2019-10-18 11:02:42 -04:00
committed by Peter Johnson
parent 63cfa64fb3
commit c10f2003c5
3 changed files with 178 additions and 0 deletions
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57
wpilibc/src/main/native/include/frc/trajectory/TrajectoryGenerator.h
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@@ -13,6 +13,7 @@
#include "frc/spline/SplineParameterizer.h"
#include "frc/trajectory/Trajectory.h"
#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
#include "frc/trajectory/constraint/TrajectoryConstraint.h"
namespace frc {
@@ -73,6 +74,62 @@ class TrajectoryGenerator {
units::meters_per_second_t maxVelocity,
units::meters_per_second_squared_t maxAcceleration, bool reversed);
/**
* Generates a trajectory with the given waypoints and differential drive
* constraints. Use this method if you just want a constraint such that none
* of the wheels on your differential drive exceed the specified max velocity.
* If you desire to impose more constraints, please use the other overloads.
*
* @param waypoints A vector of points that the trajectory must go through.
* @param differentialDriveKinematics The DifferentialDriveKinematics
* object that represents your drivetrain.
* @param startVelocity The start velocity for the trajectory.
* @param endVelocity The end velocity for the trajectory.
* @param maxVelocity The max velocity for the trajectory.
* @param maxAcceleration The max acceleration for the trajectory.
* @param reversed Whether the robot should move backwards. Note that the
* robot will still move from a -> b -> ... -> z as defined in the waypoints.
*
* @return The trajectory.
*/
static Trajectory GenerateTrajectory(
const std::vector<Pose2d>& waypoints,
const DifferentialDriveKinematics& differentialDriveKinematics,
units::meters_per_second_t startVelocity,
units::meters_per_second_t endVelocity,
units::meters_per_second_t maxVelocity,
units::meters_per_second_squared_t maxAcceleration, bool reversed);
/**
* Generates a trajectory with the given waypoints and differential drive
* constraints. Use this method if you just want a constraint such that none
* of the wheels on your differential drive exceed the specified max velocity.
* If you desire to impose more constraints, please use the other overloads.
*
* @param start The starting pose for the trajectory.
* @param waypoints The interior waypoints for the trajectory. The headings
* will be determined automatically to ensure continuous curvature.
* @param end The ending pose for the trajectory.
* @param differentialDriveKinematics The DifferentialDriveKinematics
* object that represents your drivetrain.
* @param startVelocity The start velocity for the trajectory.
* @param endVelocity The end velocity for the trajectory.
* @param maxVelocity The max velocity for the trajectory.
* @param maxAcceleration The max acceleration for the trajectory.
* @param reversed Whether the robot should move backwards. Note that the
* robot will still move from a -> b -> ... -> z as defined in the waypoints.
*
* @return The trajectory.
*/
static Trajectory GenerateTrajectory(
const Pose2d& start, const std::vector<Translation2d>& waypoints,
const Pose2d& end,
const DifferentialDriveKinematics& differentialDriveKinematics,
units::meters_per_second_t startVelocity,
units::meters_per_second_t endVelocity,
units::meters_per_second_t maxVelocity,
units::meters_per_second_squared_t maxAcceleration, bool reversed);
private:
/**
* Generate spline points from a vector of splines by parameterizing the