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.
maxVel - maximum robot velocity
maxAccel - maximum robot acceleration
maxJerk - maximum robot jerk (ignored by dynamic profiles)
maxAngVel - maximum angular velocity
maxAngAccel - maximum angular acceleration (ignored by path-based trajectories)
maxAngJerk - maximum angular jerk (ignored by path-based trajectories)
DriveConstraints(maxVel: Double, maxAccel: Double, maxJerk: Double, maxAngVel: Double, maxAngAccel: Double, maxAngJerk: Double)
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. |
var maxAccel: Double
maximum robot acceleration |
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var maxAngAccel: Double
maximum angular acceleration (ignored by path-based trajectories) |
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var maxAngJerk: Double
maximum angular jerk (ignored by path-based trajectories) |
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var maxAngVel: Double
maximum angular velocity |
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var maxJerk: Double
maximum robot jerk (ignored by dynamic profiles) |
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var maxVel: Double
maximum robot velocity |
open fun get(pose: Pose2d, deriv: Pose2d, secondDeriv: Pose2d): SimpleMotionConstraints
Returns the maximum velocity and acceleration for the given pose derivatives. |
open class MecanumConstraints : DriveConstraints
Mecanum-specific drive constraints that also limit maximum wheel velocities. |
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open class SwerveConstraints : DriveConstraints
Mecanum-specific drive constraints that also limit maximum wheel velocities. |
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open class TankConstraints : DriveConstraints
Tank-specific drive constraints that also limit maximum wheel velocities. |