MecanumConstraints

open class MecanumConstraints : DriveConstraints (source)

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

baseConstraints - base drive constraints

trackWidth - track width

wheelBase - wheel base

lateralMultiplier - lateral multiplier

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

MecanumConstraints(baseConstraints: DriveConstraints, trackWidth: Double, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0)

lateralMultiplier	lateral multiplier `val lateralMultiplier: Double`
trackWidth	track width `val trackWidth: Double`
wheelBase	wheel base `val wheelBase: Double`

get	Returns the maximum velocity and acceleration for the given path displacement and pose derivatives. `open operator fun get(s: Double, pose: Pose2d, deriv: Pose2d, secondDeriv: Pose2d): SimpleMotionConstraints`