EllipticalRegionConstraint

class wpimath.EllipticalRegionConstraint(ellipse: wpimath._wpimath.Ellipse2d, constraint: wpimath._wpimath.TrajectoryConstraint)

Bases: TrajectoryConstraint

Enforces a particular constraint only within an elliptical region.

Constructs a new EllipticalRegionConstraint.

Parameters:

• ellipse – The ellipse in which to enforce the constraint.

• constraint – The constraint to enforce when the robot is within the region.

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

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