ctre::phoenix6::swerve::LinearPath Class Reference

A linear path for a holonomic drivetrain (i.e. More...

#include <ctre/phoenix6/swerve/utility/LinearPath.hpp>

Classes
struct	State
	Path state. More...

Public Member Functions
constexpr	LinearPath (frc::TrapezoidProfile< units::meters >::Constraints linear, frc::TrapezoidProfile< units::radians >::Constraints angular)
	Constructs a linear path.
constexpr State	Calculate (units::second_t t, State const &current, Pose2d const &goal)
	Calculates the pose and speeds of the path at a time t where the current state is at t = 0.
constexpr units::second_t	TotalTime () const
	Returns the total time the profile takes to reach the goal.
constexpr bool	IsFinished (units::second_t t) const
	Returns true if the profile has reached the goal.

Detailed Description

A linear path for a holonomic drivetrain (i.e.

swerve or mechanum). This generates profiled setpoints for the robot along a straight line based on trapezoidal velocity constraints (using frc#TrapezoidProfile).

Initialization:

LinearPath path{
    TrapezoidProfile::Constraints{kMaxV, kMaxA},
    TrapezoidProfile::Constraints{kMaxOmega, kMaxAlpha}
};
LinearPath::State current{initialPose, initialFieldSpeeds};

Run on update:

current = path.Calculate(timeSincePreviousUpdate, current, targetPose);

Constructor & Destructor Documentation

LinearPath()

ctre::phoenix6::swerve::LinearPath::LinearPath ( frc::TrapezoidProfile< units::meters >::Constraints linear, frc::TrapezoidProfile< units::radians >::Constraints angular )

inlineconstexpr

Constructs a linear path.

Parameters

linear	The constraints on the profile linear motion
angular	The constraints on the profile angular motion

Member Function Documentation

Calculate()

State ctre::phoenix6::swerve::LinearPath::Calculate ( units::second_t t, State const & current, Pose2d const & goal )

inlineconstexpr

Calculates the pose and speeds of the path at a time t where the current state is at t = 0.

Parameters

t	How long to advance from the current state to the desired state
current	The current state
goal	The desired pose when the path is complete

Returns

The pose and speeds of the profile at time t

IsFinished()

bool ctre::phoenix6::swerve::LinearPath::IsFinished ( units::second_t t ) const

inlineconstexpr

Returns true if the profile has reached the goal.

The profile has reached the goal if the time since the profile started has exceeded the profile's total time.

Parameters

t	The time since the beginning of the profile

Returns

true if the profile has reached the goal

TotalTime()

units::second_t ctre::phoenix6::swerve::LinearPath::TotalTime ( ) const

inlineconstexpr

Returns the total time the profile takes to reach the goal.

Returns

The total time the profile takes to reach the goal

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

• ctre/phoenix6/swerve/utility/LinearPath.hpp