◆ MaxVelocity()
| units::meters_per_second_t frc::MecanumDriveKinematicsConstraint::MaxVelocity |
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const Pose2d & |
pose, |
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curvature_t |
curvature, |
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units::meters_per_second_t |
velocity |
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) |
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overridevirtual |
Returns the max velocity given the current pose and curvature.
- Parameters
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| 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()
| MinMax frc::MecanumDriveKinematicsConstraint::MinMaxAcceleration |
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const Pose2d & |
pose, |
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curvature_t |
curvature, |
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units::meters_per_second_t |
speed |
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) |
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overridevirtual |
Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.
- Parameters
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| 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 file: