trajopt::SwerveTrajectorySample Class Reference

Swerve trajectory sample. More...

#include <trajopt/swerve_trajectory_generator.hpp>

Public Member Functions
	SwerveTrajectorySample (double timestamp, double x, double y, double heading, double velocity_x, double velocity_y, double angular_velocity, double acceleration_x, double acceleration_y, double angular_acceleration, std::vector< double > module_forces_x, std::vector< double > module_forces_y)

Public Attributes
double	timestamp = 0.0
	The timestamp.
double	x = 0.0
	The x coordinate.
double	y = 0.0
	The y coordinate.
double	heading = 0.0
	The heading.
double	velocity_x = 0.0
	The velocity's x component.
double	velocity_y = 0.0
	The velocity's y component.
double	angular_velocity = 0.0
	The angular velocity.
double	acceleration_x = 0.0
	The acceleration's x component.
double	acceleration_y = 0.0
	The acceleration's y component.
double	angular_acceleration = 0.0
	The angular acceleration.
std::vector< double >	module_forces_x
	The force on each module in the X direction.
std::vector< double >	module_forces_y
	The force on each module in the Y direction.

Detailed Description

Swerve trajectory sample.

Constructor & Destructor Documentation

SwerveTrajectorySample()

trajopt::SwerveTrajectorySample::SwerveTrajectorySample ( double timestamp, double x, double y, double heading, double velocity_x, double velocity_y, double angular_velocity, double acceleration_x, double acceleration_y, double angular_acceleration, std::vector< double > module_forces_x, std::vector< double > module_forces_y )

inline

Construct a SwerveTrajectorySample.

Parameters

timestamp	The timestamp.
x	The x coordinate.
y	The y coordinate.
heading	The heading.
velocity_x	The velocity's x component.
velocity_y	The velocity's y component.
angular_velocity	The angular velocity.
acceleration_x	The acceleration's x component.
acceleration_y	The acceleration's y component.
angular_acceleration	The angular acceleration.
module_forces_x	Forces acting on the modules in the X direction.
module_forces_y	Forces acting on the modules in the Y direction.

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

• include/trajopt/swerve_trajectory_generator.hpp