wpimath.trajectory.constraint Package

CentripetalAccelerationConstraint(…)

A constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory.

DifferentialDriveKinematicsConstraint(…)

A class that enforces constraints on the differential drive kinematics.

DifferentialDriveVoltageConstraint(…)

A class that enforces constraints on differential drive voltage expenditure based on the motor dynamics and the drive kinematics.

EllipticalRegionConstraint(center, xWidth, …)

Enforces a particular constraint only within an elliptical region.

MaxVelocityConstraint(maxVelocity)

Represents a constraint that enforces a max velocity.

MecanumDriveKinematicsConstraint(kinematics, …)

A class that enforces constraints on the mecanum drive kinematics.

RectangularRegionConstraint(bottomLeftPoint, …)

Enforces a particular constraint only within a rectangular region.

SwerveDrive2KinematicsConstraint(kinematics, …)

A class that enforces constraints on the swerve drive kinematics.

SwerveDrive3KinematicsConstraint(kinematics, …)

A class that enforces constraints on the swerve drive kinematics.

SwerveDrive4KinematicsConstraint(kinematics, …)

A class that enforces constraints on the swerve drive kinematics.

SwerveDrive6KinematicsConstraint(kinematics, …)

A class that enforces constraints on the swerve drive kinematics.

TrajectoryConstraint()

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