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

DriveVelocityConstraint

class DriveVelocityConstraint(val maxWheelVel: Double, robotToWheelVelocities: (Pose2d) -> List<Double>) : TrajectoryVelocityConstraint

Drive constraint that limits maximum wheel velocities.

Parameters

maxWheelVel

maximum wheel velocity

Constructors

Link copied to clipboard
constructor(maxWheelVel: Double, robotToWheelVelocities: (Pose2d) -> List<Double>)

Types

Link copied to clipboard
object Companion

Properties

Link copied to clipboard

Functions

Link copied to clipboard
open operator override fun get(pose: Pose2d, deriv: Pose2d, lastDeriv: Pose2d, ds: Double, baseRobotVel: Pose2d): Double

Returns the maximum profile velocity.