A class that enforces constraints on the mecanum drive kinematics. More...

#include <frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h>

Inheritance diagram for frc::MecanumDriveKinematicsConstraint:

Public Member Functions
	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
	Returns the max velocity given the current pose and curvature. More...

MinMax	MinMaxAcceleration (const Pose2d &pose, units::curvature_t curvature, units::meters_per_second_t speed) const override
	Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed. More...

Public Member Functions inherited from frc::TrajectoryConstraint
	TrajectoryConstraint ()=default

	TrajectoryConstraint (const TrajectoryConstraint &)=default

TrajectoryConstraint &	operator= (const TrajectoryConstraint &)=default

	TrajectoryConstraint (TrajectoryConstraint &&)=default

TrajectoryConstraint &	operator= (TrajectoryConstraint &&)=default

virtual	~TrajectoryConstraint ()=default

virtual units::meters_per_second_t	MaxVelocity (const Pose2d &pose, units::curvature_t curvature, units::meters_per_second_t velocity) const =0
	Returns the max velocity given the current pose and curvature. More...

virtual MinMax	MinMaxAcceleration (const Pose2d &pose, units::curvature_t curvature, units::meters_per_second_t speed) const =0
	Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed. More...

Detailed Description

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.

Constructor & Destructor Documentation

◆ MecanumDriveKinematicsConstraint()

frc::MecanumDriveKinematicsConstraint::MecanumDriveKinematicsConstraint	(	const MecanumDriveKinematics &	kinematics,
		units::meters_per_second_t	maxSpeed
	)

Member Function Documentation

◆ MaxVelocity()

units::meters_per_second_t frc::MecanumDriveKinematicsConstraint::MaxVelocity	(	const Pose2d &	pose,
		units::curvature_t	curvature,
		units::meters_per_second_t	velocity
	)		const

overridevirtual

Returns the max velocity given the current pose and curvature.

Parameters

pose	The pose at the current point in the trajectory.
curvature	The curvature at the current point in the trajectory.
velocity	The velocity at the current point in the trajectory before constraints are applied.

Returns: The absolute maximum velocity.

Implements frc::TrajectoryConstraint.

◆ MinMaxAcceleration()

MinMax frc::MecanumDriveKinematicsConstraint::MinMaxAcceleration	(	const Pose2d &	pose,
		units::curvature_t	curvature,
		units::meters_per_second_t	speed
	)		const