trajopt::SwerveTrajectoryGenerator Class Reference

#include <trajopt/swerve_trajectory_generator.hpp>

Public Member Functions
	SwerveTrajectoryGenerator (SwervePathBuilder path_builder, int64_t handle=0)
std::expected< SwerveSolution, slp::ExitStatus >	generate (bool diagnostics=false)

Detailed Description

This trajectory generator class contains functions to generate time-optimal trajectories for several drivetrain types.

Constructor & Destructor Documentation

SwerveTrajectoryGenerator()

trajopt::SwerveTrajectoryGenerator::SwerveTrajectoryGenerator ( SwervePathBuilder path_builder, int64_t handle = 0 )

explicit

Construct a new swerve trajectory optimization problem.

Parameters

path_builder	The path builder.
handle	An identifier for state callbacks.

Member Function Documentation

generate()

std::expected< SwerveSolution, slp::ExitStatus > trajopt::SwerveTrajectoryGenerator::generate

(

bool

diagnostics = false

)

Generates an optimal trajectory.

This function may take a long time to complete.

Parameters

diagnostics

Enables diagnostic prints.

Returns

Returns a holonomic trajectory on success, or the solver's exit status on failure.

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

• include/trajopt/swerve_trajectory_generator.hpp