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

MinVelocityConstraint

public final class MinVelocityConstraint implements TrajectoryVelocityConstraint

Composite constraint representing the minimum of its constituent velocity constraints.

Constructors

MinVelocityConstraint

public MinVelocityConstraint MinVelocityConstraint(TrajectoryVelocityConstraint constraints)

public MinVelocityConstraint MinVelocityConstraint(List<TrajectoryVelocityConstraint> constraints)

Properties

private final List<TrajectoryVelocityConstraint> constraints

Functions

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

Returns the maximum profile velocity.

public final List<TrajectoryVelocityConstraint> getConstraints()