com.acmerobotics.roadrunner.trajectory.constraints

Class MinAccelerationConstraint

com.acmerobotics.roadrunner.trajectory.constraints.MinAccelerationConstraint

All Implemented Interfaces:

TrajectoryAccelerationConstraint

public class MinAccelerationConstraint
implements TrajectoryAccelerationConstraint

Composite constraint representing the minimum of its constituent acceleration constraints.

Constructor Detail

MinAccelerationConstraint

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

Composite constraint representing the minimum of its constituent acceleration constraints.

Method Detail

get

@NotNull
public NonExistentClass 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