trajopt::PointLineConstraint Class Reference

#include <trajopt/constraint/point_line_constraint.hpp>

Public Member Functions
	PointLineConstraint (Translation2d robot_point, Translation2d field_line_start, Translation2d field_line_end, 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

Point-line constraint.

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

Constructor & Destructor Documentation

PointLineConstraint()

trajopt::PointLineConstraint::PointLineConstraint ( Translation2d robot_point, Translation2d field_line_start, Translation2d field_line_end, double min_distance )

inlineexplicit

Constructs a PointLineConstraint.

Parameters

robot_point	Robot point.
field_line_start	Field line start.
field_line_end	Field line end.
min_distance	Minimum distance between robot point and field line. Must be nonnegative.

Member Function Documentation

apply()

void trajopt::PointLineConstraint::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_line_constraint.hpp