com.acmerobotics.roadrunner.trajectory.constraints

Class SwerveConstraints

DriveConstraints

com.acmerobotics.roadrunner.trajectory.constraints.SwerveConstraints

All Implemented Interfaces:

TrajectoryConstraints

public class SwerveConstraints
extends DriveConstraints

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

Field Summary

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

maxAccel, maxAngAccel, maxAngJerk, maxAngVel, maxJerk, maxVel

Constructor Summary

Constructors

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

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 class com.acmerobotics.roadrunner.trajectory.constraints.DriveConstraints

get

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

get

Constructor Detail

SwerveConstraints

@JvmOverloads
public SwerveConstraints(@NotNull
                                       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

SwerveConstraints

@JvmOverloads
public SwerveConstraints(@NotNull
                                       DriveConstraints baseConstraints,
                                       double trackWidth)

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

Parameters:

baseConstraints - base drive constraints

trackWidth - track width

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