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

AngularVelocityConstraint

public final class AngularVelocityConstraint implements TrajectoryVelocityConstraint

Constraint limiting angular velocity.

Constructors

AngularVelocityConstraint

public AngularVelocityConstraint AngularVelocityConstraint(Angle maxAngVel)

Properties

private final Angle maxAngVel

Functions

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

Returns the maximum profile velocity.

public final Angle getMaxAngVel()