core / com.acmerobotics.roadrunner.trajectory.constraints / TankConstraints

TankConstraints

open class TankConstraints : DriveConstraints

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

Parameters

baseConstraints - base drive constraints

trackWidth - track width

Constructors

<init>

 TankConstraints(baseConstraints: DriveConstraints, trackWidth: Double)

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

Properties

trackWidth

 val trackWidth: Double

track width

Inherited Properties

maxAccel

 var maxAccel: Double

maximum robot acceleration

maxAngAccel

 var maxAngAccel: Double

maximum angular acceleration (ignored by trajectories)

maxAngJerk

 var maxAngJerk: Double

maximum angular jerk (ignored by trajectories)

maxAngVel

 var maxAngVel: Double

maximum angular velocity

maxJerk

 var maxJerk: Double

maximum robot jerk (ignored by dynamic profiles)

maxVel

 var maxVel: Double

maximum robot velocity

Functions

get

 open operator fun get(pose: Pose2d, deriv: Pose2d, secondDeriv: Pose2d): SimpleMotionConstraints

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