12 #include <units/units.h>
14 #include "frc/kinematics/SwerveDriveKinematics.h"
15 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
25 template <
size_t NumModules>
30 units::meters_per_second_t maxSpeed);
34 units::meters_per_second_t velocity)
override;
37 units::meters_per_second_t speed)
override;
41 units::meters_per_second_t m_maxSpeed;
45 #include "SwerveDriveKinematicsConstraint.inc"
Represents a minimum and maximum acceleration.
Definition: TrajectoryConstraint.h:37
An interface for defining user-defined velocity and acceleration constraints while generating traject...
Definition: TrajectoryConstraint.h:22
Represents a 2d pose containing translational and rotational elements.
Definition: Pose2d.h:23
units::unit_t< units::compound_unit< units::radian, units::inverse< units::meter > >> curvature_t
Define a unit for curvature.
Definition: Trajectory.h:27
Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module ...
Definition: SwerveDriveKinematics.h:47
MinMax MinMaxAcceleration(const Pose2d &pose, curvature_t curvature, units::meters_per_second_t speed) override
Returns the minimum and maximum allowable acceleration for the trajectory given pose,...
Definition: SwerveDriveKinematicsConstraint.inc:43
Definition: SwerveDriveKinematicsConstraint.h:26
A class that enforces constraints on the differential drive kinematics.
Definition: SPIAccelerometerSim.h:16
units::meters_per_second_t MaxVelocity(const Pose2d &pose, curvature_t curvature, units::meters_per_second_t velocity) override
Returns the max velocity given the current pose and curvature.
Definition: SwerveDriveKinematicsConstraint.inc:27