◆ MaxVelocity()
template<size_t NumModules>
Returns the max velocity given the current pose and curvature.
- Parameters
-
| pose | The pose at the current point in the trajectory. |
| curvature | The curvature at the current point in the trajectory. |
| velocity | The velocity at the current point in the trajectory before constraints are applied. |
- Returns
- The absolute maximum velocity.
Implements frc::TrajectoryConstraint.
◆ MinMaxAcceleration()
template<size_t NumModules>
Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.
- Parameters
-
| pose | The pose at the current point in the trajectory. |
| curvature | The curvature at the current point in the trajectory. |
| speed | The speed at the current point in the trajectory. |
- Returns
- The min and max acceleration bounds.
Implements frc::TrajectoryConstraint.
The documentation for this class was generated from the following files:
- /__w/1/s/wpilibc/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h
- /__w/1/s/wpilibc/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc