Package edu.wpi.first.math.trajectory.constraint

Class MaxVelocityConstraint

java.lang.Object

edu.wpi.first.math.trajectory.constraint.MaxVelocityConstraint

All Implemented Interfaces:

TrajectoryConstraint

public class MaxVelocityConstraint
extends Object
implements TrajectoryConstraint

Represents a constraint that enforces a max velocity. This can be composed with the EllipticalRegionConstraint or RectangularRegionConstraint to enforce a max velocity in a region.

Nested Class Summary

Nested classes/interfaces inherited from interface edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint

TrajectoryConstraint.MinMax

Constructor Summary

Constructors

Constructor	Description
MaxVelocityConstraint(double maxVelocity)	Constructs a new MaxVelocityConstraint.

Method Summary

Modifier and Type	Method	Description
double	getMaxVelocity(Pose2d pose, double curvature, double velocity)	Returns the max velocity given the current pose and curvature.
TrajectoryConstraint.MinMax	getMinMaxAcceleration(Pose2d pose, double curvature, double velocity)	Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

MaxVelocityConstraint

public MaxVelocityConstraint(double maxVelocity)

Constructs a new MaxVelocityConstraint.

Parameters:

maxVelocity - The max velocity in m/s.

Method Details

getMaxVelocity

public double getMaxVelocity(Pose2d pose,
 double curvature,
 double velocity)

Description copied from interface: TrajectoryConstraint

Returns the max velocity given the current pose and curvature.

Specified by:

getMaxVelocity in interface TrajectoryConstraint

Parameters:

pose - The pose at the current point in the trajectory.

curvature - The curvature at the current point in the trajectory rad/m.

velocity - The velocity at the current point in the trajectory before constraints are applied in m/s.

Returns:

The absolute maximum velocity.

getMinMaxAcceleration

public TrajectoryConstraint.MinMax getMinMaxAcceleration(Pose2d pose,
 double curvature,
 double velocity)

Description copied from interface: TrajectoryConstraint

Returns the minimum and maximum allowable acceleration for the trajectory given pose, curvature, and speed.

Specified by:

getMinMaxAcceleration in interface TrajectoryConstraint

Parameters:

pose - The pose at the current point in the trajectory.

curvature - The curvature at the current point in the trajectory rad/m.

velocity - The speed at the current point in the trajectory in m/s.

Returns:

The min and max acceleration bounds.