com.acmerobotics.roadrunner.trajectory.constraints

Class SwerveVelocityConstraint

com.acmerobotics.roadrunner.trajectory.constraints.SwerveVelocityConstraint

All Implemented Interfaces:

TrajectoryVelocityConstraint

public class SwerveVelocityConstraint
implements TrajectoryVelocityConstraint

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

Constructor Detail

SwerveVelocityConstraint

@JvmOverloads
public SwerveVelocityConstraint(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

SwerveVelocityConstraint

@JvmOverloads
public SwerveVelocityConstraint(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