com.acmerobotics.roadrunner.trajectory.constraints

Class DriveConstraints

com.acmerobotics.roadrunner.trajectory.constraints.DriveConstraints

All Implemented Interfaces:

TrajectoryConstraints

Direct Known Subclasses:

MecanumConstraints, SwerveConstraints, TankConstraints

public class DriveConstraints
implements 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.

Field Summary

Fields

Modifier and Type	Field and Description
double	maximumAcceleration maximum robot acceleration
double	maximumAngularAcceleration maximum angular acceleration
double	maximumAngularVelocity maximum angular velocity
double	maximumVelocity maximum robot velocity

Constructor Summary

Constructors

Constructor and Description
DriveConstraints(double maximumVelocity, double maximumAcceleration, double maximumAngularVelocity, double maximumAngularAcceleration) 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.

Method Summary

Modifier and Type	Method and Description
double	maximumAcceleration(Pose2d pose, Pose2d poseDeriv, Pose2d poseSecondDeriv) Returns the maximum acceleration for the given pose derivatives.
double	maximumVelocity(Pose2d pose, Pose2d poseDeriv, Pose2d poseSecondDeriv) Returns the maximum velocity for the given pose derivatives.

Methods inherited from interface com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints

maximumAcceleration, maximumVelocity

Field Detail

maximumVelocity

public double maximumVelocity

maximum robot velocity

maximumAcceleration

public double maximumAcceleration

maximum robot acceleration

maximumAngularVelocity

public double maximumAngularVelocity

maximum angular velocity

maximumAngularAcceleration

public double maximumAngularAcceleration

maximum angular acceleration

(ignored by path-based trajectories)

Constructor Detail

DriveConstraints

public DriveConstraints(double maximumVelocity,
                        double maximumAcceleration,
                        double maximumAngularVelocity,
                        double maximumAngularAcceleration)

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.

Parameters:

maximumVelocity - maximum robot velocity

maximumAcceleration - maximum robot acceleration

maximumAngularVelocity - maximum angular velocity

maximumAngularAcceleration - maximum angular acceleration (ignored by path-based trajectories)

maximumVelocity - maximum robot velocity

maximumAcceleration - maximum robot acceleration

maximumAngularVelocity - maximum angular velocity

maximumAngularAcceleration - maximum angular acceleration (ignored by path-based trajectories)

Method Detail

maximumVelocity

public double maximumVelocity(Pose2d pose,
                              Pose2d poseDeriv,
                              Pose2d poseSecondDeriv)

Returns the maximum velocity for the given pose derivatives.

Parameters:

pose - pose

poseDeriv - pose derivative

poseSecondDeriv - pose second derivative

maximumAcceleration

public double maximumAcceleration(Pose2d pose,
                                  Pose2d poseDeriv,
                                  Pose2d poseSecondDeriv)

Returns the maximum acceleration for the given pose derivatives.

Parameters:

pose - pose

poseDeriv - pose derivative

poseSecondDeriv - pose second derivative