com.acmerobotics.roadrunner.trajectory.constraints

Class AngularVelocityConstraint

com.acmerobotics.roadrunner.trajectory.constraints.AngularVelocityConstraint

All Implemented Interfaces:

TrajectoryVelocityConstraint

public class AngularVelocityConstraint
implements TrajectoryVelocityConstraint

Constraint limiting angular velocity.

Constructor Detail

AngularVelocityConstraint

public AngularVelocityConstraint(double maxAngularVel)

Constraint limiting angular velocity.

Method Detail

get

public double get(double s,
                  @NotNull
                  Pose2d pose,
                  @NotNull
                  Pose2d deriv,
                  @NotNull
                  Pose2d baseRobotVel)

Returns the maximum profile velocity.

Parameters:

s - path displacement

pose - pose

deriv - pose derivative

baseRobotVel - additive base velocity