Navigation/com.amarcolini.joos.trajectory.constraints

Package-level declarations

Trajectory constraint definitions

Types

Constraint limiting angular acceleration.

A velocity constraint that prevents over-accelerating to ensure its corresponding angular and translational acceleration constraints are satisfied.

Constraint limiting angular velocity.

@Serializable

data class DiffSwerveConstraints @JvmOverloads constructor(val maxGearVel: Double, val trackWidth: Double, val maxVel: Double = 30.0, val maxAccel: Double = 30.0, val maxAngVel: Angle = 180.deg, val maxAngAccel: Angle = 180.deg, val maxAngJerk: Angle = 0.deg) : TrajectoryConstraints

Drive constraint that limits maximum wheel velocities.

@Serializable

data class GenericConstraints @JvmOverloads constructor(val maxVel: Double = 30.0, val maxAccel: Double = 30.0, val maxAngVel: Angle = 180.deg, val maxAngAccel: Angle = 180.deg, val maxAngJerk: Angle = 0.deg) : TrajectoryConstraints

@Serializable

data class MecanumConstraints @JvmOverloads constructor(val maxWheelVel: Double, val trackWidth: Double, val wheelBase: Double, val lateralMultiplier: Double, val maxVel: Double = 30.0, val maxAccel: Double = 30.0, val maxAngVel: Angle = 180.deg, val maxAngAccel: Angle = 180.deg, val maxAngJerk: Angle = 0.deg) : TrajectoryConstraints

Composite constraint representing the minimum of its constituent acceleration constraints.

Composite constraint representing the minimum of its constituent velocity constraints.

@Serializable

data class SwerveConstraints @JvmOverloads constructor(val maxWheelVel: Double, val trackWidth: Double, val wheelBase: Double, val maxVel: Double = 30.0, val maxAccel: Double = 30.0, val maxAngVel: Angle = 180.deg, val maxAngAccel: Angle = 180.deg, val maxAngJerk: Angle = 0.deg) : TrajectoryConstraints

@Serializable

data class TankConstraints @JvmOverloads constructor(val maxWheelVel: Double, val trackWidth: Double, val maxVel: Double = 30.0, val maxAccel: Double = 30.0, val maxAngVel: Angle = 180.deg, val maxAngAccel: Angle = 180.deg, val maxAngJerk: Angle = 0.deg) : TrajectoryConstraints

Motion profile acceleration constraint.

Configuration describing constraints and other robot-specific parameters.

Motion profile velocity constraint.