core/gay.zharel.hermes.kinematics/VoltageConstraint/minMaxProfileAccel

minMaxProfileAccel

open override fun minMaxProfileAccel(robotState: RobotState, path: PosePath, s: Double): MinMax

Returns the minimum and maximum profile acceleration at the specified state and path position.

Maps per-wheel voltage-limited accelerations back to a bound on scalar path acceleration a_s using the kinematic sensitivity of wheel speeds to the path speed.