SwerveConstraints

open class SwerveConstraints : DriveConstraints

Mecanum-specific drive constraints that also limit maximum wheel velocities.

baseConstraints - base drive constraints

trackWidth - track width

wheelBase - wheel base

SwerveConstraints(baseConstraints: DriveConstraints, trackWidth: Double, wheelBase: Double = trackWidth)

Mecanum-specific drive constraints that also limit maximum wheel velocities.

maximumAcceleration	`var maximumAcceleration: Double` maximum robot acceleration
maximumAngularAcceleration	`var maximumAngularAcceleration: Double` maximum angular acceleration (ignored by path-based trajectories)
maximumAngularVelocity	`var maximumAngularVelocity: Double` maximum angular velocity
maximumVelocity	`var maximumVelocity: Double` maximum robot velocity

open fun maximumVelocity(pose: Pose2d, poseDeriv: Pose2d, poseSecondDeriv: Pose2d): Double

Returns the maximum velocity for the given pose derivatives.

open fun maximumAcceleration(pose: Pose2d, poseDeriv: Pose2d, poseSecondDeriv: Pose2d): Double

Returns the maximum acceleration for the given pose derivatives.