defaults:
  subpackage: constraint

extra_includes:
- PyTrajectoryConstraint.h

classes:
  frc::EllipticalRegionConstraint:
    template_params:
    - typename Constraint
    typealias:
    - frc::TrajectoryConstraint::MinMax
    methods:
      EllipticalRegionConstraint:
        overloads:
          const Translation2d&, units::meter_t, units::meter_t, const Rotation2d&, const Constraint&:
          const Ellipse2d&, const Constraint&:
      MaxVelocity:
      MinMaxAcceleration:

    template_inline_code: |
      cls_EllipticalRegionConstraint
        .def_static("fromFeet", [](const Translation2d& center, units::foot_t xWidth,
                                   units::foot_t yWidth, const Rotation2d& rotation,
                                   const Constraint& constraint) {
          return std::make_shared<EllipticalRegionConstraint<Constraint>>(center, xWidth, yWidth, rotation, constraint);
        }, py::arg("center"), py::arg("xWidth"), py::arg("yWidth"), py::arg("rotation"), py::arg("constraint"))
      ;

templates:
  EllipticalRegionConstraint:
    qualname: frc::EllipticalRegionConstraint
    params:
    - frc::PyTrajectoryConstraint