trajopt::PathBuilder< Drivetrain, Solution > Class Template Reference

#include <trajopt/path/path_builder.hpp>

Public Member Functions
void	set_drivetrain (Drivetrain drivetrain)
void	set_bumpers (double front, double left, double right, double back)
void	set_control_interval_counts (std::vector< size_t > &&counts)
const std::vector< size_t > &	get_control_interval_counts () const
void	sgmt_initial_guess_points (size_t from_index, std::span< const Pose2d > guess_points)
void	pose_wpt (size_t index, const Pose2d &pose)
void	translation_wpt (size_t index, const Translation2d &translation, double heading_guess=0.0)
void	empty_wpt (size_t index, const Pose2d &pose_guess)
void	wpt_linear_velocity_direction (size_t index, double angle)
void	wpt_linear_velocity_max_magnitude (size_t index, double magnitude)
void	wpt_angular_velocity_max_magnitude (size_t index, double magnitude)
void	wpt_linear_acceleration_max_magnitude (size_t index, double magnitude)
void	wpt_point_at (size_t index, const Translation2d &field_point, double heading_tolerance, bool flip)
void	wpt_keep_in_circle (size_t index, const Translation2d &center, double radius)
void	wpt_keep_in_polygon (size_t index, std::span< Translation2d > field_points)
void	wpt_keep_in_lane (size_t index, const Translation2d &center_line_start, const Translation2d &center_line_end, double tolerance)
void	wpt_keep_out_circle (size_t index, const Translation2d &center, double radius)
void	sgmt_linear_velocity_direction (size_t from_index, size_t to_index, double angle)
void	sgmt_linear_velocity_max_magnitude (size_t from_index, size_t to_index, double magnitude)
void	sgmt_angular_velocity_max_magnitude (size_t from_index, size_t to_index, double magnitude)
void	sgmt_linear_acceleration_max_magnitude (size_t from_index, size_t to_index, double magnitude)
void	sgmt_point_at (size_t from_index, size_t to_index, Translation2d field_point, double heading_tolerance, bool flip)
void	sgmt_keep_in_circle (size_t from_index, size_t to_index, const Translation2d &center, double radius)
void	sgmt_keep_in_polygon (size_t from_index, size_t to_index, std::span< Translation2d > field_points)
void	sgmt_keep_in_lane (size_t from_index, size_t to_index, const Translation2d &center_line_start, const Translation2d &center_line_end, double tolerance)
void	sgmt_keep_out_circle (size_t from_index, size_t to_index, Translation2d center, double radius)
void	add_callback (const std::function< void(const Solution &solution, int64_t handle)> callback)
Path< Drivetrain, Solution > &	get_path ()
Solution	calculate_linear_initial_guess () const
Solution	calculate_spline_initial_guess () const

Detailed Description

template<typename Drivetrain, typename Solution>
class trajopt::PathBuilder< Drivetrain, Solution >

Path builder.

Template Parameters

Drivetrain	The drivetrain type (e.g., swerve, differential).
Solution	The solution type (e.g., swerve, differential).

Member Function Documentation

add_callback()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::add_callback ( const std::function< void(const Solution &solution, int64_t handle)> callback )

inline

Adds a callback to retrieve the state of the solver as a Solution.

This callback will run on every iteration of the solver.

Parameters

callback

A callback whose first parameter is the Solution based on the solver's state at that iteration, and second parameter is the handle passed into Generate().

calculate_linear_initial_guess()

template<typename Drivetrain, typename Solution>

Solution trajopt::PathBuilder< Drivetrain, Solution >::calculate_linear_initial_guess ( ) const

inline

Calculates a discrete, linear initial guess of the x, y, and heading of the robot that goes through each segment.

Returns

The initial guess, as a solution.

calculate_spline_initial_guess()

template<typename Drivetrain, typename Solution>

Solution trajopt::PathBuilder< Drivetrain, Solution >::calculate_spline_initial_guess ( ) const

inline

Calculates a discrete, spline initial guess of the x, y, and heading of the robot that goes through each segment.

Returns

The initial guess, as a solution.

empty_wpt()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::empty_wpt ( size_t index, const Pose2d & pose_guess )

inline

Sets a waypoint's pose initial guess.

Parameters

index	The waypoint's index.
pose_guess	The pose initial guess.

get_control_interval_counts()

template<typename Drivetrain, typename Solution>

const std::vector< size_t > & trajopt::PathBuilder< Drivetrain, Solution >::get_control_interval_counts ( ) const

inline

Gets the control interval counts.

Returns

Control interval counts.

get_path()

template<typename Drivetrain, typename Solution>

Path< Drivetrain, Solution > & trajopt::PathBuilder< Drivetrain, Solution >::get_path ( )

inline

Gets the DifferentialPath being constructed.

Returns

The path.

pose_wpt()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::pose_wpt ( size_t index, const Pose2d & pose )

inline

Applies a pose constraint to a waypoint, and adds an initial guess with the same pose.

Parameters

index	The waypoint's index.
pose	The pose.

set_bumpers()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::set_bumpers ( double front, double left, double right, double back )

inline

Adds a rectangular bumper to a list used when applying keep-out constraints.

Parameters

front	Distance in meters from center to front bumper edge.
left	Distance in meters from center to left bumper edge.
right	Distance in meters from center to right bumper edge.
back	Distance in meters from center to back bumper edge.

set_control_interval_counts()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::set_control_interval_counts ( std::vector< size_t > && counts )

inline

Sets the number of discrete samples for each trajectory segment.

Parameters

counts

The sequence of control interval counts per segment. Length is number of waypoints - 1.

set_drivetrain()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::set_drivetrain ( Drivetrain drivetrain )

inline

Sets the Drivetrain object.

Parameters

drivetrain

The drivetrain.

sgmt_angular_velocity_max_magnitude()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::sgmt_angular_velocity_max_magnitude ( size_t from_index, size_t to_index, double magnitude )

inline

Applies an angular velocity max magnitude constraint between two waypoints.

Parameters

from_index	The first waypoint's index.
to_index	The second waypoint's index.
magnitude	The magnitude.

sgmt_initial_guess_points()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::sgmt_initial_guess_points ( size_t from_index, std::span< const Pose2d > guess_points )

inline

Adds a sequence of initial guess points between two waypoints.

The points are inserted between the waypoints at fromIndex and fromIndex + 1. Linear interpolation between the waypoint initial guess points and these segment initial guess points is used as the initial guess of the robot's pose over the trajectory.

Parameters

from_index	The index of the waypoint the initial guess point comes after.
guess_points	The sequence of initial guess points.

sgmt_keep_in_circle()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::sgmt_keep_in_circle ( size_t from_index, size_t to_index, const Translation2d & center, double radius )

inline

Applies a keep-in circle constraint between two waypoints.

Applies to the robot bumpers.

Parameters

from_index	The first waypoint's index.
to_index	The second waypoint's index.
center	The circle's center.
radius	The circle's radius.

sgmt_keep_in_lane()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::sgmt_keep_in_lane ( size_t from_index, size_t to_index, const Translation2d & center_line_start, const Translation2d & center_line_end, double tolerance )

inline

Applies a keep-in lane constraint between two waypoints.

Applies to the robot center.

Parameters

from_index	The first waypoint's index.
to_index	The second waypoint's index.
center_line_start	The center line's start point.
center_line_end	The center line's end point.
tolerance	The distance from the center line to each lane edge.

sgmt_keep_in_polygon()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::sgmt_keep_in_polygon ( size_t from_index, size_t to_index, std::span< Translation2d > field_points )

inline

Applies a keep-in polygon constraint between two waypoints.

Applies to the robot bumpers.

Parameters

from_index	The first waypoint's index.
to_index	The second waypoint's index.
field_points	The points defining the keep-in polygon (must wind counterclockwise).

sgmt_keep_out_circle()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::sgmt_keep_out_circle ( size_t from_index, size_t to_index, Translation2d center, double radius )

inline

Applies a keep-out circle constraint between two waypoints.

Applies to the robot bumpers.

Parameters

from_index	The first waypoint's index.
to_index	The second waypoint's index.
center	The circle's center.
radius	The circle's radius.

sgmt_linear_acceleration_max_magnitude()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::sgmt_linear_acceleration_max_magnitude ( size_t from_index, size_t to_index, double magnitude )

inline

Applies a linear acceleration max magnitude constraint between two waypoints.

Parameters

from_index	The first waypoint's index.
to_index	The second waypoint's index.
magnitude	The magnitude.

sgmt_linear_velocity_direction()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::sgmt_linear_velocity_direction ( size_t from_index, size_t to_index, double angle )

inline

Applies a linear velocity direction constraint between two waypoints.

Parameters

from_index	The first waypoint's index.
to_index	The second waypoint's index.
angle	The angle in radians.

sgmt_linear_velocity_max_magnitude()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::sgmt_linear_velocity_max_magnitude ( size_t from_index, size_t to_index, double magnitude )

inline

Applies a linear velocity max magnitude constraint between two waypoints.

Parameters

from_index	The first waypoint's index.
to_index	The second waypoint's index.
magnitude	The magnitude.

sgmt_point_at()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::sgmt_point_at ( size_t from_index, size_t to_index, Translation2d field_point, double heading_tolerance, bool flip )

inline

Applies a point-at constraint between two waypoints.

Parameters

from_index	The first waypoint's index.
to_index	The second waypoint's index.
field_point	The field point to point at.
heading_tolerance	The heading tolerance.
flip	Whether to point away from the field point.

translation_wpt()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::translation_wpt ( size_t index, const Translation2d & translation, double heading_guess = 0.0 )

inline

Applies a translation constraint to a waypoint, and adds an initial guess point with the same translation.

Parameters

index	The waypoint's index.
translation	The translation.
heading_guess	The heading initial guess.

wpt_angular_velocity_max_magnitude()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::wpt_angular_velocity_max_magnitude ( size_t index, double magnitude )

inline

Applies an angular velocity max magnitude constraint to a waypoint.

Parameters

index	The waypoint's index.
magnitude	The magnitude.

wpt_keep_in_circle()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::wpt_keep_in_circle ( size_t index, const Translation2d & center, double radius )

inline

Applies a keep-in circle constraint to a waypoint.

Applies to the robot bumpers.

Parameters

index	The waypoint's index.
center	The circle's center.
radius	The circle's radius.

wpt_keep_in_lane()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::wpt_keep_in_lane ( size_t index, const Translation2d & center_line_start, const Translation2d & center_line_end, double tolerance )

inline

Applies a keep-in lane constraint to a waypoint.

Applies to the robot center.

Parameters

index	The waypoint's index.
center_line_start	The center line's start point.
center_line_end	The center line's end point.
tolerance	The distance from the center line to each lane edge.

wpt_keep_in_polygon()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::wpt_keep_in_polygon ( size_t index, std::span< Translation2d > field_points )

inline

Applies a keep-in polygon constraint to a waypoint.

Applies to the robot bumpers.

Parameters

index	The waypoint's index.
field_points	The points defining the keep-in polygon (must wind counterclockwise).

wpt_keep_out_circle()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::wpt_keep_out_circle ( size_t index, const Translation2d & center, double radius )

inline

Applies a keep-out circle constraint to a waypoint.

Applies to the robot bumpers.

Parameters

index	The waypoint's index.
center	The circle's center.
radius	The circle's radius.

wpt_linear_acceleration_max_magnitude()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::wpt_linear_acceleration_max_magnitude ( size_t index, double magnitude )

inline

Applies a linear acceleration max magnitude constraint to a waypoint.

Parameters

index	The waypoint's index.
magnitude	The magnitude.

wpt_linear_velocity_direction()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::wpt_linear_velocity_direction ( size_t index, double angle )

inline

Applies a linear velocity direction constraint to a waypoint.

Parameters

index	The waypoint's index.
angle	The angle in radians.

wpt_linear_velocity_max_magnitude()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::wpt_linear_velocity_max_magnitude ( size_t index, double magnitude )

inline

Applies a linear velocity max magnitude constraint to a waypoint.

Parameters

index	The waypoint's index.
magnitude	The magnitude.

wpt_point_at()

template<typename Drivetrain, typename Solution>

void trajopt::PathBuilder< Drivetrain, Solution >::wpt_point_at ( size_t index, const Translation2d & field_point, double heading_tolerance, bool flip )

inline

Applies a point-at constraint to a waypoint.

Parameters

index	The waypoint's index.
field_point	The field point to point at.
heading_tolerance	The heading tolerance.
flip	Whether to point away from the field point.

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

• include/trajopt/path/path_builder.hpp