classes:
  wpi::math::SwerveDriveKinematicsConstraint:
    template_params:
    - size_t NumModules
    typealias:
    - wpi::math::TrajectoryConstraint::MinMax
    methods:
      SwerveDriveKinematicsConstraint:
      MaxVelocity:
      MinMaxAcceleration:
    template_inline_code: |
      cls_SwerveDriveKinematicsConstraint
        .def_static("fromFps", [](const wpi::math::SwerveDriveKinematics<NumModules>& kinematics,
                                  wpi::units::feet_per_second_t maxVelocity) {
          return std::make_shared<wpi::math::SwerveDriveKinematicsConstraint<NumModules>>(kinematics, maxVelocity);
        }, py::arg("kinematics"), py::arg("maxVelocity"))
      ;

templates:
  SwerveDrive2KinematicsConstraint:
    qualname: wpi::math::SwerveDriveKinematicsConstraint
    params:
    - 2
  SwerveDrive3KinematicsConstraint:
    qualname: wpi::math::SwerveDriveKinematicsConstraint
    params:
    - 3
  SwerveDrive4KinematicsConstraint:
    qualname: wpi::math::SwerveDriveKinematicsConstraint
    params:
    - 4
  SwerveDrive6KinematicsConstraint:
    qualname: wpi::math::SwerveDriveKinematicsConstraint
    params:
    - 6