interface TrajectoryConstraints (source)
Trajectory-specific constraints for motion profile generation.
get |
Returns the maximum velocity and acceleration for the given path displacement and pose derivatives. abstract operator fun get(s: Double, pose: Pose2d, deriv: Pose2d, secondDeriv: Pose2d): SimpleMotionConstraints |
DriveConstraints |
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 DriveConstraints : TrajectoryConstraints |