trajopt::LaneConstraint Class Reference

#include <trajopt/constraint/lane_constraint.hpp>

Public Member Functions
	LaneConstraint (Translation2d center_line_start, Translation2d center_line_end, double tolerance)
void	apply (slp::Problem< double > &problem, const Pose2v< double > &pose, const Translation2v< double > &linear_velocity, const slp::Variable< double > &angular_velocity, const Translation2v< double > &linear_acceleration, const slp::Variable< double > &angular_acceleration)

Detailed Description

Lane Constraint.

Specifies the robot must stay between two lines.

Constructor & Destructor Documentation

LaneConstraint()

trajopt::LaneConstraint::LaneConstraint ( Translation2d center_line_start, Translation2d center_line_end, double tolerance )

inline

Constructs a LaneConstraint.

Parameters

center_line_start	Start point of the center line.
center_line_end	End point of the center line.
tolerance	Distance from center line to lane edge. Passing zero creates a line constraint.

Member Function Documentation

apply()

void trajopt::LaneConstraint::apply ( slp::Problem< double > & problem, const Pose2v< double > & pose, const Translation2v< double > & linear_velocity, const slp::Variable< double > & angular_velocity, const Translation2v< double > & linear_acceleration, const slp::Variable< double > & angular_acceleration )

inline

Applies this constraint to the given problem.

Parameters

problem	The optimization problem.
pose	The robot's pose.
linear_velocity	The robot's linear velocity.
angular_velocity	The robot's angular velocity.
linear_acceleration	The robot's linear acceleration.
angular_acceleration	The robot's angular acceleration.

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

• include/trajopt/constraint/lane_constraint.hpp