Package edu.wpi.first.math.trajectory.constraint

Class MecanumDriveKinematicsConstraint

java.lang.Object

edu.wpi.first.math.trajectory.constraint.MecanumDriveKinematicsConstraint

All Implemented Interfaces:

TrajectoryConstraint

public class MecanumDriveKinematicsConstraint
extends Object
implements TrajectoryConstraint

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 all 4 wheels of the drivetrain stay below a certain limit.

Nested Class Summary

Nested classes/interfaces inherited from interface edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint

TrajectoryConstraint.MinMax

Constructor Summary

Constructors

Constructor	Description
MecanumDriveKinematicsConstraint(MecanumDriveKinematics kinematics, double maxSpeedMetersPerSecond)	Constructs a mecanum drive kinematics constraint.

Method Summary

Modifier and Type	Method	Description
double	getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)	Returns the max velocity given the current pose and curvature.
TrajectoryConstraint.MinMax	getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)	Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

MecanumDriveKinematicsConstraint

public MecanumDriveKinematicsConstraint(MecanumDriveKinematics kinematics, double maxSpeedMetersPerSecond)

Constructs a mecanum drive kinematics constraint.

Parameters:

kinematics - Mecanum drive kinematics.

maxSpeedMetersPerSecond - The max speed that a side of the robot can travel at.

Method Details

getMaxVelocityMetersPerSecond

public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)

Returns the max velocity given the current pose and curvature.

Specified by:

getMaxVelocityMetersPerSecond in interface TrajectoryConstraint

Parameters:

poseMeters - The pose at the current point in the trajectory.

curvatureRadPerMeter - The curvature at the current point in the trajectory.

velocityMetersPerSecond - The velocity at the current point in the trajectory before constraints are applied.

Returns:

The absolute maximum velocity.

getMinMaxAccelerationMetersPerSecondSq

public TrajectoryConstraint.MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)

Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.

Specified by:

getMinMaxAccelerationMetersPerSecondSq in interface TrajectoryConstraint

Parameters:

poseMeters - The pose at the current point in the trajectory.

curvatureRadPerMeter - The curvature at the current point in the trajectory.

velocityMetersPerSecond - The speed at the current point in the trajectory.

Returns:

The min and max acceleration bounds.