com.acmerobotics.roadrunner.trajectory.constraints

Class ProfileAccelerationConstraint

com.acmerobotics.roadrunner.trajectory.constraints.ProfileAccelerationConstraint

All Implemented Interfaces:

TrajectoryAccelerationConstraint

public class ProfileAccelerationConstraint
implements TrajectoryAccelerationConstraint

Constraint limiting profile acceleration.

Constructor Detail

ProfileAccelerationConstraint

public ProfileAccelerationConstraint(double maxProfileAccel)

Constraint limiting profile acceleration.

Method Detail

get

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

Returns the maximum profile acceleration.

Parameters:

s - path displacement

pose - pose

deriv - pose derivative

baseRobotVel - additive base velocity