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. |
var maximumAcceleration: Double
maximum robot acceleration |
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var maximumAngularAcceleration: Double
maximum angular acceleration (ignored by path-based trajectories) |
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var maximumAngularVelocity: Double
maximum angular velocity |
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var 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. |
open class MecanumConstraints : DriveConstraints
Mecanum-specific drive constraints that also limit maximum wheel velocities. |
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open class SwerveConstraints : DriveConstraints
Mecanum-specific drive constraints that also limit maximum wheel velocities. |
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open class TankConstraints : DriveConstraints
Tank-specific drive constraints that also limit maximum wheel velocities. |