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

SwerveConstraints

@Serializable()

public final class SwerveConstraints implements TrajectoryConstraints

Constructors

SwerveConstraints

@JvmOverloads()

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

@JvmOverloads()

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

@JvmOverloads()

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

@JvmOverloads()

public SwerveConstraints SwerveConstraints(Double maxWheelVel, Double trackWidth, Double wheelBase, Double maxVel, Double maxAccel)

@JvmOverloads()

public SwerveConstraints SwerveConstraints(Double maxWheelVel, Double trackWidth, Double wheelBase, Double maxVel)

@JvmOverloads()

public SwerveConstraints SwerveConstraints(Double maxWheelVel, Double trackWidth, Double wheelBase)

Properties

accelConstraint

private final transient MinAccelerationConstraint accelConstraint

public final Double maxAccel

private final Angle maxAngAccel

private final Angle maxAngJerk

private final Angle maxAngVel

public final Double maxVel

public final Double maxWheelVel

public final Double trackWidth

private final transient MinVelocityConstraint velConstraint

public final Double wheelBase

Functions

getAccelConstraint

public MinAccelerationConstraint getAccelConstraint()

public Angle getMaxAngAccel()

public Angle getMaxAngJerk()

public Angle getMaxAngVel()

getVelConstraint

public MinVelocityConstraint getVelConstraint()