Interface Summary Interface Description TrajectoryConstraintAn interface for defining user-defined velocity and acceleration constraints while generating trajectories.
Class Summary Class Description CentripetalAccelerationConstraintA constraint on the maximum absolute centripetal acceleration allowed when traversing a trajectory. DifferentialDriveKinematicsConstraintA class that enforces constraints on the differential drive kinematics. DifferentialDriveVoltageConstraintA class that enforces constraints on differential drive voltage expenditure based on the motor dynamics and the drive kinematics. MecanumDriveKinematicsConstraintA class that enforces constraints on the mecanum drive kinematics. SwerveDriveKinematicsConstraintA class that enforces constraints on the swerve drive kinematics. TrajectoryConstraint.MinMaxRepresents a minimum and maximum acceleration.