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

AngularAccelVelocityConstraint

class AngularAccelVelocityConstraint(val maxAngAccel: Angle, val maxTranslationAccel: Double) : TrajectoryVelocityConstraint

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

Constructors

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constructor(maxAngAccel: Angle, maxTranslationAccel: Double)

Properties

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Functions

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open operator override fun get(pose: Pose2d, deriv: Pose2d, lastDeriv: Pose2d, ds: Double, baseRobotVel: Pose2d): Double

Returns the maximum profile velocity.