open class DriveConstraints : TrajectoryConstraints
(source)
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.
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)
<init> |
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. DriveConstraints(maxVel: Double, maxAccel: Double, maxJerk: Double, maxAngVel: Double, maxAngAccel: Double, maxAngJerk: Double) |
maxAccel |
maximum robot acceleration var maxAccel: Double |
maxAngAccel |
maximum angular acceleration (ignored by trajectories) var maxAngAccel: Double |
maxAngJerk |
maximum angular jerk (ignored by trajectories) var maxAngJerk: Double |
maxAngVel |
maximum angular velocity var maxAngVel: Double |
maxJerk |
maximum robot jerk (ignored by dynamic profiles) var maxJerk: Double |
maxVel |
maximum robot velocity var maxVel: Double |
get |
Returns the maximum velocity and acceleration for the given path displacement and pose derivatives. open fun get(s: Double, pose: Pose2d, deriv: Pose2d, secondDeriv: Pose2d): SimpleMotionConstraints |
MecanumConstraints |
Mecanum-specific drive constraints that also limit maximum wheel velocities. open class MecanumConstraints : DriveConstraints |
SwerveConstraints |
Mecanum-specific drive constraints that also limit maximum wheel velocities. open class SwerveConstraints : DriveConstraints |
TankConstraints |
Tank-specific drive constraints that also limit maximum wheel velocities. open class TankConstraints : DriveConstraints |