MecanumDriveKinematicsConstraint

class wpimath.trajectory.constraint.MecanumDriveKinematicsConstraint(kinematics: wpimath.kinematics._kinematics.MecanumDriveKinematics, maxSpeed: meters_per_second)

Bases: TrajectoryConstraint

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

static fromFps(kinematics: wpimath.kinematics._kinematics.MecanumDriveKinematics, maxSpeed: feet_per_second) → wpimath._controls._controls.constraint.MecanumDriveKinematicsConstraint

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

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