core / com.acmerobotics.roadrunner.trajectory.constraints / MecanumVelocityConstraint

MecanumVelocityConstraint

open class MecanumVelocityConstraint : TrajectoryVelocityConstraint (source)

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

Parameters

maxWheelVel - maximum wheel velocity

trackWidth - track width

wheelBase - wheel base

lateralMultiplier - lateral multiplier

Constructors

<init>

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

MecanumVelocityConstraint(maxWheelVel: Double, trackWidth: Double, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0)

Functions

get

Returns the maximum profile velocity.

open fun get(s: Double, pose: Pose2d, deriv: Pose2d, baseRobotVel: Pose2d): Double