MecanumDriveKinematicsConstraint.h

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <cmath>
 
#include <wpi/SymbolExports.h>
 
#include "frc/kinematics/MecanumDriveKinematics.h"
#include "frc/trajectory/constraint/TrajectoryConstraint.h"
#include "units/velocity.h"
 
namespace frc {
/**
 * A class that enforces constraints on the mecanum drive kinematics.
 * This can be used to ensure that the trajectory is constructed so that the
 * commanded velocities for wheels of the drivetrain stay below a certain
 * limit.
 */
class WPILIB_DLLEXPORT MecanumDriveKinematicsConstraint
    : public TrajectoryConstraint {
 public:
  MecanumDriveKinematicsConstraint(const MecanumDriveKinematics& kinematics,
                                   units::meters_per_second_t maxSpeed);
 
  units::meters_per_second_t MaxVelocity(
      const Pose2d& pose, units::curvature_t curvature,
      units::meters_per_second_t velocity) const override;
 
  MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
                            units::meters_per_second_t speed) const override;
 
 private:
  MecanumDriveKinematics m_kinematics;
  units::meters_per_second_t m_maxSpeed;
};
}  // namespace frc