BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.roadrunner.parameters/Constants

Constants

data class Constants(val driveModel: DriveModel, val motionProfile: MotionProfile, val turnActionFactory: TurnActionFactory, val trajectoryActionFactory: TrajectoryActionFactory, val trajectoryBuilderParams: TrajectoryBuilderParams, val beginEndVel: Double, val baseTurnConstraints: TurnConstraints, val baseVelConstraint: VelConstraint, val baseAccelConstraint: AccelConstraint)

Data class storing all the required constants for using RoadRunner motion planning.

Author

Lucas Bubner, 2024

Since

6.0.0

Parameters

driveModel

the drive model to use

motionProfile

the motion profile to use

turnActionFactory

the turn action factory to use

trajectoryActionFactory

the trajectory action factory to use

trajectoryBuilderParams

the trajectory builder parameters to use

beginEndVel

the beginning and ending velocity of the trajectory

baseTurnConstraints

the base turn constraints to use

baseVelConstraint

the base velocity constraint to use

baseAccelConstraint

the base acceleration constraint to use

Constructors

Constants

constructor(driveModel: DriveModel, motionProfile: MotionProfile, turnActionFactory: TurnActionFactory, trajectoryActionFactory: TrajectoryActionFactory, trajectoryBuilderParams: TrajectoryBuilderParams, beginEndVel: Double, baseTurnConstraints: TurnConstraints, baseVelConstraint: VelConstraint, baseAccelConstraint: AccelConstraint)