interface TrajectoryConstraints
Trajectory-specific constraints for motion profile generation.
abstract operator fun get(pose: Pose2d, deriv: Pose2d, secondDeriv: Pose2d): SimpleMotionConstraints
Returns the maximum velocity and acceleration for the given pose derivatives. |
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. If maxJerk or maxAngJerk are 0, acceleration-limited fallbacks will be used. |