open class MecanumVelocityConstraint : TrajectoryVelocityConstraint (source)
Mecanum-specific drive constraints that also limit maximum wheel velocities.
maxWheelVel - maximum wheel velocity
lateralMultiplier - lateral multiplier
<init> |
Mecanum-specific drive constraints that also limit maximum wheel velocities. MecanumVelocityConstraint(maxWheelVel: Double, trackWidth: Double, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0) |
get |
Returns the maximum profile velocity. open fun get(s: Double, pose: Pose2d, deriv: Pose2d, baseRobotVel: Pose2d): Double |