com.acmerobotics.roadrunner.trajectory.constraints

Class TankVelocityConstraint

com.acmerobotics.roadrunner.trajectory.constraints.TankVelocityConstraint

All Implemented Interfaces:

TrajectoryVelocityConstraint

public class TankVelocityConstraint
implements TrajectoryVelocityConstraint

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

Constructor Detail

TankVelocityConstraint

public TankVelocityConstraint(double maxWheelVel,
                              double trackWidth)

Tank-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