Class EllipticalRegionConstraint

java.lang.Object
edu.wpi.first.math.trajectory.constraint.EllipticalRegionConstraint
All Implemented Interfaces:
TrajectoryConstraint

public class EllipticalRegionConstraint
extends Object
implements TrajectoryConstraint
Enforces a particular constraint only within an elliptical region.
  • Constructor Details

    • EllipticalRegionConstraint

      public EllipticalRegionConstraint​(Translation2d center, double xWidth, double yWidth, Rotation2d rotation, TrajectoryConstraint constraint)
      Constructs a new EllipticalRegionConstraint.
      Parameters:
      center - The center of the ellipse in which to enforce the constraint.
      xWidth - The width of the ellipse in which to enforce the constraint.
      yWidth - The height of the ellipse in which to enforce the constraint.
      rotation - The rotation to apply to all radii around the origin.
      constraint - The constraint to enforce when the robot is within the region.
  • Method Details