public class TankConstraints
extends DriveConstraints
Tank-specific drive constraints that also limit maximum wheel velocities.
maximumAcceleration, maximumAngularAcceleration, maximumAngularVelocity, maximumVelocity
Constructor and Description |
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TankConstraints(DriveConstraints baseConstraints,
double trackWidth)
Tank-specific drive constraints that also limit maximum wheel velocities.
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Modifier and Type | Method and Description |
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double |
getTrackWidth()
track width
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double |
maximumVelocity(Pose2d pose,
Pose2d poseDeriv,
Pose2d poseSecondDeriv)
Returns the maximum velocity for the given pose derivatives.
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maximumAcceleration, maximumVelocity
maximumAcceleration, maximumVelocity
public TankConstraints(DriveConstraints baseConstraints, double trackWidth)
Tank-specific drive constraints that also limit maximum wheel velocities.
baseConstraints
- base drive constraintstrackWidth
- track widthbaseConstraints
- base drive constraintstrackWidth
- track widthpublic double maximumVelocity(Pose2d pose, Pose2d poseDeriv, Pose2d poseSecondDeriv)
Returns the maximum velocity for the given pose derivatives.
pose
- poseposeDeriv
- pose derivativeposeSecondDeriv
- pose second derivativepublic double getTrackWidth()
track width