TrajectoryConstraint

class wpimath.trajectory.constraint.TrajectoryConstraint

Bases: pybind11_object

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

class MinMax

Bases: pybind11_object

Represents a minimum and maximum acceleration.

property maxAcceleration → wpimath.units.meters_per_second_squared

The maximum acceleration.

property minAcceleration → wpimath.units.meters_per_second_squared

The minimum acceleration.

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

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

Parameters:

• pose – The pose at the current point in the trajectory.

• curvature – The curvature at the current point in the trajectory.

• speed – The speed at the current point in the trajectory.

Returns:

The min and max acceleration bounds.