TrajectoryConstraint

class wpimath.TrajectoryConstraint

Bases: pybind11_object

An interface for defining user-defined velocity and acceleration constraints while generating trajectories.

class MinMax(*args, **kwargs)

Bases: pybind11_object

Represents a minimum and maximum acceleration.

Overloaded function.

  1. __init__(self: wpimath._wpimath.TrajectoryConstraint.MinMax) -> None

  2. __init__(self: wpimath._wpimath.TrajectoryConstraint.MinMax, minAcceleration: wpimath.units.meters_per_second_squared, maxAcceleration: wpimath.units.meters_per_second_squared) -> None

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

Returns the max velocity given the current pose and curvature.

Parameters:

  • 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.

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

Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and velocity.

Parameters:

  • 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.

Returns:

The min and max acceleration bounds.