trajopt::LinePointConstraint Class Reference

#include <trajopt/constraint/line_point_constraint.hpp>

Public Member Functions
	LinePointConstraint (Translation2d robot_line_start, Translation2d robot_line_end, Translation2d field_point, double min_distance)
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

Line-point constraint.

Specifies the required minimum distance between a line segment on the robot's frame and a point on the field.

Constructor & Destructor Documentation

LinePointConstraint()

trajopt::LinePointConstraint::LinePointConstraint ( Translation2d robot_line_start, Translation2d robot_line_end, Translation2d field_point, double min_distance )

inlineexplicit

Constructs a LinePointConstraint.

Parameters

robot_line_start	Robot line start.
robot_line_end	Robot line end.
field_point	Field point.
min_distance	Minimum distance between robot line and field point. Must be nonnegative.

Member Function Documentation

apply()

void trajopt::LinePointConstraint::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.

---

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

• include/trajopt/constraint/line_point_constraint.hpp