SwerveDrive3KinematicsConstraint

class wpimath.trajectory.constraint.SwerveDrive3KinematicsConstraint(kinematics: wpimath.kinematics._kinematics.SwerveDrive3Kinematics, maxSpeed: 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.SwerveDrive3Kinematics, maxSpeed: feet_per_second) wpimath._controls._controls.constraint.SwerveDrive3KinematicsConstraint
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