Navigation/com.amarcolini.joos.trajectory.constraints/MecanumConstraints

MecanumConstraints

@Serializable()

public final class MecanumConstraints implements TrajectoryConstraints

Constructors

public MecanumConstraints MecanumConstraints(Double maxWheelVel, Double trackWidth, Double wheelBase, Double lateralMultiplier, Double maxVel, Double maxAccel, Angle maxAngVel, Angle maxAngAccel, Angle maxAngJerk)

@JvmOverloads()

public MecanumConstraints MecanumConstraints(Double maxWheelVel, Double trackWidth, Double wheelBase, Double lateralMultiplier, Double maxVel, Double maxAccel, Angle maxAngVel, Angle maxAngAccel)

@JvmOverloads()

public MecanumConstraints MecanumConstraints(Double maxWheelVel, Double trackWidth, Double wheelBase, Double lateralMultiplier, Double maxVel, Double maxAccel, Angle maxAngVel)

@JvmOverloads()

public MecanumConstraints MecanumConstraints(Double maxWheelVel, Double trackWidth, Double wheelBase, Double lateralMultiplier, Double maxVel, Double maxAccel)

@JvmOverloads()

public MecanumConstraints MecanumConstraints(Double maxWheelVel, Double trackWidth, Double wheelBase, Double lateralMultiplier, Double maxVel)

@JvmOverloads()

public MecanumConstraints MecanumConstraints(Double maxWheelVel, Double trackWidth, Double wheelBase, Double lateralMultiplier)

Properties

accelConstraint

private final transient MinAccelerationConstraint accelConstraint

lateralMultiplier

@JvmField()

public final Double lateralMultiplier

maxAccel

@JvmField()

public final Double maxAccel

maxAngAccel

private final Angle maxAngAccel

maxAngJerk

private final Angle maxAngJerk

maxAngVel

private final Angle maxAngVel

maxVel

@JvmField()

public final Double maxVel

maxWheelVel

@JvmField()

public final Double maxWheelVel

trackWidth

@JvmField()

public final Double trackWidth

velConstraint

private final transient MinVelocityConstraint velConstraint

wheelBase

@JvmField()

public final Double wheelBase

Functions

getAccelConstraint

public MinAccelerationConstraint getAccelConstraint()

getMaxAngAccel

public Angle getMaxAngAccel()

getMaxAngJerk

public Angle getMaxAngJerk()

getMaxAngVel

public Angle getMaxAngVel()

getVelConstraint

public MinVelocityConstraint getVelConstraint()