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fix: account for angular acceleration in swerve angle kinematics constraint #1453

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Merged
calcmogul merged 2 commits into from
Mar 23, 2026
Merged

fix: account for angular acceleration in swerve angle kinematics constraint #1453

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fix: account for angular acceleration in swerve angle kinematics cons…
spacey-sooty Mar 23, 2026
4ea177a
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spacey-sooty Mar 23, 2026
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7 changes: 5 additions & 2 deletions trajoptlib/src/swerve_trajectory_generator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
#include <sleipnir/optimization/problem.hpp>
#include <sleipnir/optimization/solver/exit_status.hpp>

#include "trajopt/geometry/rotation2.hpp"
#include "trajopt/util/cancellation.hpp"
#include "trajopt/util/trajopt_util.hpp"

Expand Down Expand Up @@ -197,11 +198,13 @@ SwerveTrajectoryGenerator::SwerveTrajectoryGenerator(
}

// xₖ₊₁ = xₖ + vₖt + 1/2aₖt²
// θₖ₊₁ = θₖ + ωₖt
// θₖ₊₁ = θₖ + ωₖt + 1/2αₖt²
// vₖ₊₁ = vₖ + aₖt
// ωₖ₊₁ = ωₖ + αₖt
problem.subject_to(x_k_1 == x_k + v_k * dt_k + a_k * 0.5 * dt_k * dt_k);
problem.subject_to((θ_k_1 - θ_k) == Rotation2v<double>{ω_k * dt_k});
problem.subject_to(θ_k_1 ==
θ_k + Rotation2v<double>{ω_k * dt_k} +
Rotation2v<double>{α_k * 0.5 * dt_k * dt_k});
problem.subject_to(v_k_1 == v_k + a_k * dt_k);
problem.subject_to(ω_k_1 == ω_k + α_k * dt_k);
}
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