core/gay.zharel.hermes.kinematics/WheelVelConstraint

WheelVelConstraint

class WheelVelConstraint<WI : WheelIncrements<*>, WV : WheelVelocities<*>>(val kinematics: RobotKinematics<WI, WV>, val maxWheelVel: Double) : VelConstraint

Velocity constraint based on maximum wheel velocities.

This constraint calculates the maximum robot velocity by considering the physical limits of the wheel velocities through inverse and forward kinematics.

Constructors

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constructor(kinematics: RobotKinematics<WI, WV>, maxWheelVel: Double)

Properties

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@JvmField
val kinematics: RobotKinematics<WI, WV>

The robot kinematics model

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@JvmField
val maxWheelVel: Double

The maximum allowable wheel velocity

Functions

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

Returns the maximum robot velocity at the specified state and path position.