open class TankConstraints : DriveConstraints
Tank-specific drive constraints that also limit maximum wheel velocities.
baseConstraints - base drive constraints
TankConstraints(baseConstraints: DriveConstraints, trackWidth: Double)
Tank-specific drive constraints that also limit maximum wheel velocities. |
val trackWidth: Double
track width |
var maximumAcceleration: Double
maximum robot acceleration |
|
var maximumAngularAcceleration: Double
maximum angular acceleration (ignored by path-based trajectories) |
|
var maximumAngularVelocity: Double
maximum angular velocity |
|
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. |