001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.math.trajectory.constraint;
006
007import edu.wpi.first.math.geometry.Pose2d;
008
009/**
010 * Represents a constraint that enforces a max velocity. This can be composed with the {@link
011 * EllipticalRegionConstraint} or {@link RectangularRegionConstraint} to enforce a max velocity in a
012 * region.
013 */
014public class MaxVelocityConstraint implements TrajectoryConstraint {
015  private final double m_maxVelocity;
016
017  /**
018   * Constructs a new MaxVelocityConstraint.
019   *
020   * @param maxVelocity The max velocity in m/s.
021   */
022  public MaxVelocityConstraint(double maxVelocity) {
023    m_maxVelocity = maxVelocity;
024  }
025
026  @Override
027  public double getMaxVelocity(Pose2d pose, double curvature, double velocity) {
028    return m_maxVelocity;
029  }
030
031  @Override
032  public TrajectoryConstraint.MinMax getMinMaxAcceleration(
033      Pose2d pose, double curvature, double velocity) {
034    return new MinMax();
035  }
036}