MotionConstraints Struct Reference

This class contains the motion constraints that the high-level logic sets for a robot. More...

Static Public Member Functions
static double	defaultMaxSpeed ()
	Default constraint values supplied by config.
static void	createConfiguration (Configuration *cfg)

Public Attributes
double	maxSpeed
	Each instance has a set of speed/acceleration limits that are used for path following They default to the global config values defined below, but can be overridden by setting these. More...
double	maxAcceleration
double	maxCentripetalAcceleration

Static Public Attributes
static ConfigDouble *	_max_acceleration
static ConfigDouble *	_max_centripetal_acceleration
static ConfigDouble *	_max_speed
static ConfigDouble *	_replan_threshold
static ConfigDouble *	_replan_lead_time

Detailed Description

This class contains the motion constraints that the high-level logic sets for a robot.

For position: set EITHER OR . For angle: set EITHER OR .

Collaboration diagram for MotionConstraints:

Member Data Documentation

maxSpeed

double MotionConstraints::maxSpeed

Each instance has a set of speed/acceleration limits that are used for path following They default to the global config values defined below, but can be overridden by setting these.

This is useful for going slower while carrying the ball or when trying to do precise movements.

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

• soccer/planning/MotionConstraints.hpp
• soccer/planning/MotionConstraints.cpp