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. EllipticalRegionConstraintEnforces a particular constraint only within an elliptical region. MaxVelocityConstraintRepresents a constraint that enforces a max velocity. MecanumDriveKinematicsConstraintA class that enforces constraints on the mecanum drive kinematics. RectangularRegionConstraintEnforces a particular constraint only within a rectangular region. SwerveDriveKinematicsConstraintA class that enforces constraints on the swerve drive kinematics. TrajectoryConstraint.MinMaxRepresents a minimum and maximum acceleration.