open class DriveConstraints : TrajectoryConstraints
This class describes general robot trajectory constraints. More specifically, for paths, the robot velocity, robot acceleration, and robot angular velocity are limited. For point turns, the angular velocity and angular acceleration are limited.
maximumVelocity
- maximum robot velocity
maximumAcceleration
- maximum robot acceleration
maximumAngularVelocity
- maximum angular velocity
maximumAngularAcceleration
- maximum angular acceleration (ignored by path-based trajectories)
DriveConstraints(maximumVelocity: Double, maximumAcceleration: Double, maximumAngularVelocity: Double, maximumAngularAcceleration: Double)
This class describes general robot trajectory constraints. More specifically, for paths, the robot velocity, robot acceleration, and robot angular velocity are limited. For point turns, the angular velocity and angular acceleration are limited. |
val maximumAcceleration: Double
maximum robot acceleration |
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val maximumAngularAcceleration: Double
maximum angular acceleration (ignored by path-based trajectories) |
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val maximumAngularVelocity: Double
maximum angular velocity |
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val maximumVelocity: Double
maximum robot velocity |
open fun maximumAcceleration(pose: Pose2d, poseDeriv: Pose2d, poseSecondDeriv: Pose2d): Double
Returns the maximum acceleration for the given pose derivatives. |
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open fun maximumVelocity(pose: Pose2d, poseDeriv: Pose2d, poseSecondDeriv: Pose2d): Double
Returns the maximum velocity for the given pose derivatives. |
class MecanumConstraints : DriveConstraints
Mecanum-specific drive constraints that also limit maximum wheel velocities. |
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class SwerveConstraints : DriveConstraints
Mecanum-specific drive constraints that also limit maximum wheel velocities. |
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class TankConstraints : DriveConstraints
Tank-specific drive constraints that also limit maximum wheel velocities. |