com.acmerobotics.roadrunner.trajectory.constraints

Class MecanumConstraints

DriveConstraints

com.acmerobotics.roadrunner.trajectory.constraints.MecanumConstraints

All Implemented Interfaces:

TrajectoryConstraints

public class MecanumConstraints
extends DriveConstraints

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

Field Summary

Fields inherited from class com.acmerobotics.roadrunner.trajectory.constraints.DriveConstraints

maximumAcceleration, maximumAngularAcceleration, maximumAngularVelocity, maximumVelocity

Constructor Summary

Constructors

Constructor and Description
MecanumConstraints(DriveConstraints baseConstraints, double trackWidth, double wheelBase) Mecanum-specific drive constraints that also limit maximum wheel velocities.
MecanumConstraints(DriveConstraints baseConstraints, double trackWidth) Mecanum-specific drive constraints that also limit maximum wheel velocities.

Method Summary

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

Methods inherited from class com.acmerobotics.roadrunner.trajectory.constraints.DriveConstraints

maximumAcceleration, maximumVelocity

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

maximumAcceleration, maximumVelocity

Constructor Detail

MecanumConstraints

public MecanumConstraints(DriveConstraints baseConstraints,
                          double trackWidth,
                          double wheelBase)

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

Parameters:

baseConstraints - base drive constraints

trackWidth - track width

wheelBase - wheel base

baseConstraints - base drive constraints

trackWidth - track width

wheelBase - wheel base

MecanumConstraints

public MecanumConstraints(DriveConstraints baseConstraints,
                          double trackWidth)

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

Parameters:

baseConstraints - base drive constraints

trackWidth - track width

baseConstraints - base drive constraints

trackWidth - track width

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