SwerveDrive4KinematicsConstraint

class wpimath.trajectory.constraint.SwerveDrive4KinematicsConstraint(kinematics: wpimath.kinematics._kinematics.SwerveDrive4Kinematics, maxSpeed: wpimath.units.meters_per_second)

Bases: TrajectoryConstraint

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

static fromFps(kinematics: wpimath.kinematics._kinematics.SwerveDrive4Kinematics, maxSpeed: wpimath.units.feet_per_second) → wpimath._controls._controls.constraint.SwerveDrive4KinematicsConstraint

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

minMaxAcceleration(pose: wpimath.geometry._geometry.Pose2d, curvature: wpimath.units.radians_per_meter, speed: wpimath.units.meters_per_second) → wpimath._controls._controls.constraint.TrajectoryConstraint.MinMax