open class TankVelocityConstraint : TrajectoryVelocityConstraint (source)
Tank-specific drive constraints that also limit maximum wheel velocities.
maxWheelVel - maximum wheel velocity
<init> |
Tank-specific drive constraints that also limit maximum wheel velocities. TankVelocityConstraint(maxWheelVel: Double, trackWidth: Double) |
get |
Returns the maximum profile velocity. open fun get(s: Double, pose: Pose2d, deriv: Pose2d, baseRobotVel: Pose2d): Double |