com.acmerobotics.roadrunner.trajectory.constraints

Class MinVelocityConstraint

com.acmerobotics.roadrunner.trajectory.constraints.MinVelocityConstraint

All Implemented Interfaces:

TrajectoryVelocityConstraint

public class MinVelocityConstraint
implements TrajectoryVelocityConstraint

Composite constraint representing the minimum of its constituent velocity constraints.

Constructor Detail

MinVelocityConstraint

public MinVelocityConstraint(@NotNull
                             java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint> constraints)

Composite constraint representing the minimum of its constituent velocity constraints.

Method Detail

get

@NotNull
public NonExistentClass 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