Specific constraints for trajectories and different drive types.
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 |
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 |
TrajectoryConstraints |
Trajectory-specific constraints for motion profile generation. interface TrajectoryConstraints |