trajopt::SwerveSolution Struct Reference

The swerve drive trajectory optimization solution. More...

#include <trajopt/swerve_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 >	thetacos
	Heading cosine.
std::vector< double >	thetasin
	Heading sine.
std::vector< double >	vx
	The x velocities.
std::vector< double >	vy
	The y velocities.
std::vector< double >	omega
	The angular velocities.
std::vector< double >	ax
	The x accelerations.
std::vector< double >	ay
	The y accelerations.
std::vector< double >	alpha
	The angular accelerations.
std::vector< std::vector< double > >	module_fx
	The x forces for each module.
std::vector< std::vector< double > >	module_fy
	The y forces for each module.

Detailed Description

The swerve drive trajectory optimization solution.

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

• include/trajopt/swerve_trajectory_generator.hpp