TrajectoryConfig

class wpimath.TrajectoryConfig(max_velocity: wpimath.units.meters_per_second, max_acceleration: wpimath.units.meters_per_second_squared)

Bases: pybind11_object

Represents the configuration for generating a trajectory. This class stores the start velocity, end velocity, max velocity, max acceleration, custom constraints, and the reversed flag.

The class must be constructed with a max velocity and max acceleration. The other parameters (start velocity, end velocity, constraints, reversed) have been defaulted to reasonable values (0, 0, {}, false). These values can be changed via the SetXXX methods.

Constructs a config object.

Parameters:

  • max_velocity – The max velocity of the trajectory.

  • max_acceleration – The max acceleration of the trajectory.

add_constraint(constraint: wpimath._wpimath.TrajectoryConstraint) → None

Adds a user-defined constraint to the trajectory.

Parameters:

constraint – The user-defined constraint.

end_velocity() → wpimath.units.meters_per_second

Returns the ending velocity of the trajectory.

Returns:

The ending velocity of the trajectory.

static from_fps(max_velocity: wpimath.units.feet_per_second, max_acceleration: wpimath.units.feet_per_second_squared) → wpimath._wpimath.TrajectoryConfig
is_reversed() → bool

Returns whether the trajectory is reversed or not.

Returns:

whether the trajectory is reversed or not.

max_acceleration() → wpimath.units.meters_per_second_squared

Returns the maximum acceleration of the trajectory.

Returns:

The maximum acceleration of the trajectory.

max_velocity() → wpimath.units.meters_per_second

Returns the maximum velocity of the trajectory.

Returns:

The maximum velocity of the trajectory.

set_end_velocity(end_velocity: wpimath.units.meters_per_second) → None

Sets the end velocity of the trajectory.

Parameters:

end_velocity – The end velocity of the trajectory.

set_kinematics(*args, **kwargs)

Overloaded function.

  1. set_kinematics(self: wpimath._wpimath.TrajectoryConfig, kinematics: wpimath._wpimath.DifferentialDriveKinematics) -> None

Adds a differential drive kinematics constraint to ensure that no wheel velocity of a differential drive goes above the max velocity.

Parameters:

kinematics – The differential drive kinematics.

  1. set_kinematics(self: wpimath._wpimath.TrajectoryConfig, kinematics: wpimath._wpimath.MecanumDriveKinematics) -> None

Adds a mecanum drive kinematics constraint to ensure that no wheel velocity of a mecanum drive goes above the max velocity.

Parameters:

kinematics – The mecanum drive kinematics.

  1. set_kinematics(self: wpimath._wpimath.TrajectoryConfig, kinematics: wpimath._wpimath.SwerveDrive2Kinematics) -> None

Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.

Parameters:

kinematics – The swerve drive kinematics.

  1. set_kinematics(self: wpimath._wpimath.TrajectoryConfig, kinematics: wpimath._wpimath.SwerveDrive3Kinematics) -> None

Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.

Parameters:

kinematics – The swerve drive kinematics.

  1. set_kinematics(self: wpimath._wpimath.TrajectoryConfig, kinematics: wpimath._wpimath.SwerveDrive4Kinematics) -> None

Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.

Parameters:

kinematics – The swerve drive kinematics.

  1. set_kinematics(self: wpimath._wpimath.TrajectoryConfig, kinematics: wpimath._wpimath.SwerveDrive6Kinematics) -> None

Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.

Parameters:

kinematics – The swerve drive kinematics.

set_reversed(reversed: bool) → None

Sets the reversed flag of the trajectory.

Parameters:

reversed – Whether the trajectory should be reversed or not.

set_start_velocity(start_velocity: wpimath.units.meters_per_second) → None

Sets the start velocity of the trajectory.

Parameters:

start_velocity – The start velocity of the trajectory.

start_velocity() → wpimath.units.meters_per_second

Returns the starting velocity of the trajectory.

Returns:

The starting velocity of the trajectory.