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. If maxJerk or maxAngJerk are 0, acceleration-limited fallbacks will be used.

Field Summary

Fields

Modifier and Type	Field and Description
double	maxAccel maximum robot acceleration
double	maxAngAccel maximum angular acceleration
double	maxAngJerk maximum angular jerk
double	maxAngVel maximum angular velocity
double	maxJerk maximum robot jerk
double	maxVel maximum robot velocity

Constructor Summary

Constructors

Constructor and Description

DriveConstraints(double maxVel, double maxAccel, double maxJerk, double maxAngVel, double maxAngAccel, double maxAngJerk) 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. If maxJerk or maxAngJerk are 0, acceleration-limited fallbacks will be used.

Method Summary

Modifier and Type	Method and Description
SimpleMotionConstraints	get(Pose2d pose, Pose2d deriv, Pose2d secondDeriv) Returns the maximum velocity and acceleration for the given pose derivatives.

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

get

Field Detail

maxVel

@JvmField
public double maxVel

maximum robot velocity

maxAccel

@JvmField
public double maxAccel

maximum robot acceleration

maxJerk

@JvmField
public double maxJerk

maximum robot jerk

(ignored by dynamic profiles)

maxAngVel

@JvmField
public double maxAngVel

maximum angular velocity

maxAngAccel

@JvmField
public double maxAngAccel

maximum angular acceleration

(ignored by trajectories)

maxAngJerk

@JvmField
public double maxAngJerk

maximum angular jerk

(ignored by trajectories)

Constructor Detail

DriveConstraints

public DriveConstraints(double maxVel,
                        double maxAccel,
                        double maxJerk,
                        double maxAngVel,
                        double maxAngAccel,
                        double maxAngJerk)

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. If maxJerk or maxAngJerk are 0, acceleration-limited fallbacks will be used.

Parameters:

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 trajectories)

maxAngJerk - maximum angular jerk (ignored by trajectories)

Method Detail

get

@NotNull
public SimpleMotionConstraints get(@NotNull
                                            Pose2d pose,
                                            @NotNull
                                            Pose2d deriv,
                                            @NotNull
                                            Pose2d secondDeriv)

Returns the maximum velocity and acceleration for the given pose derivatives.

Parameters:

pose - pose

deriv - pose derivative

secondDeriv - pose second derivative