com.acmerobotics.roadrunner.trajectory.constraints

Class MecanumVelocityConstraint

com.acmerobotics.roadrunner.trajectory.constraints.MecanumVelocityConstraint

All Implemented Interfaces:

TrajectoryVelocityConstraint

public class MecanumVelocityConstraint
implements TrajectoryVelocityConstraint

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

Constructor Detail

MecanumVelocityConstraint

@JvmOverloads
public MecanumVelocityConstraint(double maxWheelVel,
                                               double trackWidth,
                                               double wheelBase,
                                               double lateralMultiplier)

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

Parameters:

maxWheelVel - maximum wheel velocity

trackWidth - track width

wheelBase - wheel base

lateralMultiplier - lateral multiplier

MecanumVelocityConstraint

@JvmOverloads
public MecanumVelocityConstraint(double maxWheelVel,
                                               double trackWidth,
                                               double wheelBase)

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

Parameters:

maxWheelVel - maximum wheel velocity

trackWidth - track width

wheelBase - wheel base

MecanumVelocityConstraint

@JvmOverloads
public MecanumVelocityConstraint(double maxWheelVel,
                                               double trackWidth)

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

Parameters:

maxWheelVel - maximum wheel velocity

trackWidth - track width

Method Detail

get

public double get(double s,
                  @NotNull
                  Pose2d pose,
                  @NotNull
                  Pose2d deriv,
                  @NotNull
                  Pose2d baseRobotVel)

Returns the maximum profile velocity.

Parameters:

s - path displacement

pose - pose

deriv - pose derivative

baseRobotVel - additive base velocity