trajopt::PointAtConstraint Class Reference

#include <trajopt/constraint/point_at_constraint.hpp>

Public Member Functions
	PointAtConstraint (Translation2d field_point, double heading_tolerance, bool flip=false)
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

Point-at constraint.

Specifies a point on the field at which the robot should point.

Constructor & Destructor Documentation

PointAtConstraint()

trajopt::PointAtConstraint::PointAtConstraint ( Translation2d field_point, double heading_tolerance, bool flip = false )

inlineexplicit

Constructs a PointAtConstraint.

Parameters

field_point	Field point.
heading_tolerance	The allowed robot heading tolerance (radians). Must be nonnegative.
flip	Whether to point away from the field point.

Member Function Documentation

apply()

void trajopt::PointAtConstraint::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/point_at_constraint.hpp