Package edu.wpi.first.math.trajectory.constraint

Interface Summary

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

Class Summary

Class	Description
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	Enforces a particular constraint only within an elliptical region.
MaxVelocityConstraint	Represents a constraint that enforces a max velocity.
MecanumDriveKinematicsConstraint	A class that enforces constraints on the mecanum drive kinematics.
RectangularRegionConstraint	Enforces a particular constraint only within a rectangular region.
SwerveDriveKinematicsConstraint	A class that enforces constraints on the swerve drive kinematics.
TrajectoryConstraint.MinMax	Represents a minimum and maximum acceleration.