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 maxVelocityMetersPerSecond)	Constructs a new MaxVelocityConstraint.

Method Summary

Modifier and Type	Method	Description
double	getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)	Returns the max velocity given the current pose and curvature.
TrajectoryConstraint.MinMax	getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)	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 maxVelocityMetersPerSecond)

Constructs a new MaxVelocityConstraint.

Parameters:

maxVelocityMetersPerSecond - The max velocity.

Method Details

getMaxVelocityMetersPerSecond

public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)

Description copied from interface: TrajectoryConstraint

Returns the max velocity given the current pose and curvature.

Specified by:

getMaxVelocityMetersPerSecond in interface TrajectoryConstraint

Parameters:

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

curvatureRadPerMeter - The curvature at the current point in the trajectory.

velocityMetersPerSecond - The velocity at the current point in the trajectory before constraints are applied.

Returns:

The absolute maximum velocity.

getMinMaxAccelerationMetersPerSecondSq

public TrajectoryConstraint.MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond)

Description copied from interface: TrajectoryConstraint

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

Specified by:

getMinMaxAccelerationMetersPerSecondSq in interface TrajectoryConstraint

Parameters:

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

curvatureRadPerMeter - The curvature at the current point in the trajectory.

velocityMetersPerSecond - The speed at the current point in the trajectory.

Returns:

The min and max acceleration bounds.