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

MinAccelerationConstraint

public final class MinAccelerationConstraint implements TrajectoryAccelerationConstraint

Composite constraint representing the minimum of its constituent acceleration constraints.

Constructors

MinAccelerationConstraint

public MinAccelerationConstraint MinAccelerationConstraint(TrajectoryAccelerationConstraint constraints)

public MinAccelerationConstraint MinAccelerationConstraint(List<TrajectoryAccelerationConstraint> constraints)

Properties

private final List<TrajectoryAccelerationConstraint> constraints

Functions

public List<Pair<Double, Double>> get(Pose2d deriv, Pose2d lastDeriv, Double ds, Double lastVel)

Returns the range of profile velocities allowed by this acceleration constraint.

public final List<TrajectoryAccelerationConstraint> getConstraints()