Navigation/com.amarcolini.joos.trajectory.constraints/AngularAccelVelocityConstraint

AngularAccelVelocityConstraint

public final class AngularAccelVelocityConstraint implements TrajectoryVelocityConstraint

A velocity constraint that prevents over-accelerating to ensure its corresponding angular and translational acceleration constraints are satisfied.

Constructors

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public AngularAccelVelocityConstraint AngularAccelVelocityConstraint(Angle maxAngAccel, Double maxTranslationAccel)

Properties

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private final Angle maxAngAccel
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private final Double maxTranslationAccel

Functions

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public Double get(Pose2d pose, Pose2d deriv, Pose2d lastDeriv, Double ds, Pose2d baseRobotVel)

Returns the maximum profile velocity.

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public final Angle getMaxAngAccel()
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public final Double getMaxTranslationAccel()