interface TrajectoryConstraints
Trajectory-specific constraints for motion profile generation.
abstract fun maximumAcceleration(pose: Pose2d, poseDeriv: Pose2d, poseSecondDeriv: Pose2d): Double
Returns the maximum acceleration for the given pose derivatives. |
|
abstract fun maximumVelocity(pose: Pose2d, poseDeriv: Pose2d, poseSecondDeriv: Pose2d): Double
Returns the maximum velocity for the given pose derivatives. |
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. |