open class SwerveConstraints : DriveConstraints (source)
Mecanum-specific drive constraints that also limit maximum wheel velocities.
baseConstraints - base drive constraints
<init> |
Mecanum-specific drive constraints that also limit maximum wheel velocities. SwerveConstraints(baseConstraints: DriveConstraints, trackWidth: Double, wheelBase: Double = trackWidth) |
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 |