MecanumDriveKinematicsConstraint

class wpimath.MecanumDriveKinematicsConstraint(kinematics: wpimath._wpimath.MecanumDriveKinematics, max_velocity: wpimath.units.meters_per_second)

Bases: TrajectoryConstraint

A class that enforces constraints on the mecanum drive kinematics. This can be used to ensure that the trajectory is constructed so that the commanded velocities for wheels of the drivetrain stay below a certain limit.

static from_fps(kinematics: wpimath._wpimath.MecanumDriveKinematics, max_velocity: wpimath.units.feet_per_second) → wpimath._wpimath.MecanumDriveKinematicsConstraint

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