descartes_core::TimingConstraint Struct Reference

A window of time for this point to be achieved relative to a previous point or the starting position. More...

#include <trajectory_timing_constraint.h>

List of all members.

Public Member Functions
bool	isSpecified () const
	Checks if the given timing constraint has been specified.
	TimingConstraint ()
	The default constructor creates an unspecified point.
	TimingConstraint (double nominal)
	Constructs a timing constraint with a nominal time value (window width of zero)
	TimingConstraint (double lower, double upper)
	Constructs a timing constraint using the provided time window.
Public Attributes
double	lower
double	upper

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Detailed Description

A window of time for this point to be achieved relative to a previous point or the starting position.

This struct defines a 'lower' and 'upper' bound for the desired time. If the upper bound is zero or negative, it is considered unspecified and the behavior of your planner or filter is considered undefined.

All time-value units are in seconds.

Definition at line 42 of file trajectory_timing_constraint.h.

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Constructor & Destructor Documentation

descartes_core::TimingConstraint::TimingConstraint

(

)

[inline]

The default constructor creates an unspecified point.

Definition at line 47 of file trajectory_timing_constraint.h.

descartes_core::TimingConstraint::TimingConstraint

(

double

nominal

)

[inline, explicit]

Constructs a timing constraint with a nominal time value (window width of zero)

Parameters:

nominal

The desired time in seconds to achieve this point from the previous

Definition at line 56 of file trajectory_timing_constraint.h.

descartes_core::TimingConstraint::TimingConstraint	(	double	lower,
		double	upper
	)		[inline]

Constructs a timing constraint using the provided time window.

Parameters:

lower	The lower bound of the acceptable time window in seconds.
upper	The upper bound of the acceptable time window in seconds.

Definition at line 73 of file trajectory_timing_constraint.h.

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Member Function Documentation

bool descartes_core::TimingConstraint::isSpecified

(

)

const [inline]

Checks if the given timing constraint has been specified.

Returns:

true if the point is specified

Definition at line 94 of file trajectory_timing_constraint.h.

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Member Data Documentation

double descartes_core::TimingConstraint::lower

Definition at line 96 of file trajectory_timing_constraint.h.

double descartes_core::TimingConstraint::upper

Definition at line 96 of file trajectory_timing_constraint.h.

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

• trajectory_timing_constraint.h