TrajectoryConfig
- class wpimath.trajectory.TrajectoryConfig(maxVelocity: meters_per_second, maxAcceleration: meters_per_second_squared)
Bases:
pybind11_object
Represents the configuration for generating a trajectory. This class stores the start velocity, end velocity, max velocity, max acceleration, custom constraints, and the reversed flag.
The class must be constructed with a max velocity and max acceleration. The other parameters (start velocity, end velocity, constraints, reversed) have been defaulted to reasonable values (0, 0, {}, false). These values can be changed via the SetXXX methods.
Constructs a config object.
- Parameters:
maxVelocity – The max velocity of the trajectory.
maxAcceleration – The max acceleration of the trajectory.
- addConstraint(constraint: TrajectoryConstraint) None
Adds a user-defined constraint to the trajectory.
- Parameters:
constraint – The user-defined constraint.
- endVelocity() meters_per_second
Returns the ending velocity of the trajectory.
- Returns:
The ending velocity of the trajectory.
- static fromFps(maxVelocity: feet_per_second, maxAcceleration: feet_per_second_squared) wpimath._controls._controls.trajectory.TrajectoryConfig
- isReversed() bool
Returns whether the trajectory is reversed or not.
- Returns:
whether the trajectory is reversed or not.
- maxAcceleration() meters_per_second_squared
Returns the maximum acceleration of the trajectory.
- Returns:
The maximum acceleration of the trajectory.
- maxVelocity() meters_per_second
Returns the maximum velocity of the trajectory.
- Returns:
The maximum velocity of the trajectory.
- setEndVelocity(endVelocity: meters_per_second) None
Sets the end velocity of the trajectory.
- Parameters:
endVelocity – The end velocity of the trajectory.
- setKinematics(*args, **kwargs)
Overloaded function.
setKinematics(self: wpimath._controls._controls.trajectory.TrajectoryConfig, kinematics: wpimath.kinematics._kinematics.DifferentialDriveKinematics) -> None
Adds a differential drive kinematics constraint to ensure that no wheel velocity of a differential drive goes above the max velocity.
- Parameters:
kinematics – The differential drive kinematics.
setKinematics(self: wpimath._controls._controls.trajectory.TrajectoryConfig, kinematics: wpimath.kinematics._kinematics.MecanumDriveKinematics) -> None
Adds a mecanum drive kinematics constraint to ensure that no wheel velocity of a mecanum drive goes above the max velocity.
- Parameters:
kinematics – The mecanum drive kinematics.
setKinematics(self: wpimath._controls._controls.trajectory.TrajectoryConfig, kinematics: wpimath.kinematics._kinematics.SwerveDrive2Kinematics) -> None
Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.
- Parameters:
kinematics – The swerve drive kinematics.
setKinematics(self: wpimath._controls._controls.trajectory.TrajectoryConfig, kinematics: wpimath.kinematics._kinematics.SwerveDrive3Kinematics) -> None
Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.
- Parameters:
kinematics – The swerve drive kinematics.
setKinematics(self: wpimath._controls._controls.trajectory.TrajectoryConfig, kinematics: wpimath.kinematics._kinematics.SwerveDrive4Kinematics) -> None
Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.
- Parameters:
kinematics – The swerve drive kinematics.
setKinematics(self: wpimath._controls._controls.trajectory.TrajectoryConfig, kinematics: wpimath.kinematics._kinematics.SwerveDrive6Kinematics) -> None
Adds a swerve drive kinematics constraint to ensure that no wheel velocity of a swerve drive goes above the max velocity.
- Parameters:
kinematics – The swerve drive kinematics.
- setReversed(reversed: bool) None
Sets the reversed flag of the trajectory.
- Parameters:
reversed – Whether the trajectory should be reversed or not.
- setStartVelocity(startVelocity: meters_per_second) None
Sets the start velocity of the trajectory.
- Parameters:
startVelocity – The start velocity of the trajectory.
- startVelocity() meters_per_second
Returns the starting velocity of the trajectory.
- Returns:
The starting velocity of the trajectory.