CentripetalAccelerationConstraint

class wpimath.CentripetalAccelerationConstraint(max_centripetal_acceleration: wpimath.units.meters_per_second_squared)

Bases: TrajectoryConstraint

A constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory. The centripetal acceleration of a robot is defined as the velocity squared divided by the radius of curvature.

Effectively, limiting the maximum centripetal acceleration will cause the robot to slow down around tight turns, making it easier to track trajectories with sharp turns.

static from_fps(max_centripetal_acceleration: wpimath.units.feet_per_second_squared) → wpimath._wpimath.CentripetalAccelerationConstraint

max_velocity(pose: wpimath._wpimath.Pose2d, curvature: wpimath.units.radians_per_meter, velocity: wpimath.units.meters_per_second) → wpimath.units.meters_per_second

min_max_acceleration(pose: wpimath._wpimath.Pose2d, curvature: wpimath.units.radians_per_meter, velocity: wpimath.units.meters_per_second) → wpimath._wpimath.TrajectoryConstraint.MinMax