trajopt::DifferentialSolution Struct Reference

The holonomic trajectory optimization solution. More...

#include <trajopt/differential_trajectory_generator.hpp>

Public Attributes
std::vector< double >	dt
	Times between samples.
std::vector< double >	x
	X positions.
std::vector< double >	y
	Y positions.
std::vector< double >	heading
	Heading.
std::vector< double >	vl
	The left velocities.
std::vector< double >	vr
	The right velocities.
std::vector< double >	angular_velocity
std::vector< double >	al
	The left accelerations.
std::vector< double >	ar
	The right acceleration.
std::vector< double >	angular_acceleration
std::vector< double >	Fl
	The force of the left driverail wheels.
std::vector< double >	Fr
	The force of the right driverail wheels.

Detailed Description

The holonomic trajectory optimization solution.

Member Data Documentation

angular_acceleration

std::vector<double> trajopt::DifferentialSolution::angular_acceleration

The chassis angular acceleration, which can be derived as α = (aᵣ − aₗ)/trackwidth.

angular_velocity

std::vector<double> trajopt::DifferentialSolution::angular_velocity

The chassis angular velocity, which can be derived as ω = (vᵣ − vₗ)/trackwidth.

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

• include/trajopt/differential_trajectory_generator.hpp