Specific constraints for trajectories and different drive types.
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. |
|
open class MecanumConstraints : DriveConstraints
Mecanum-specific drive constraints that also limit maximum wheel velocities. |
|
open class SwerveConstraints : DriveConstraints
Mecanum-specific drive constraints that also limit maximum wheel velocities. |
|
open class TankConstraints : DriveConstraints
Tank-specific drive constraints that also limit maximum wheel velocities. |
|
interface TrajectoryConstraints
Trajectory-specific constraints for motion profile generation. |