core/gay.zharel.hermes.profiles/AngularVelConstraint

AngularVelConstraint

class AngularVelConstraint(val maxAngVel: Double) : VelConstraint

Velocity constraint based on maximum angular velocity.

This constraint ensures that the robot's angular velocity does not exceed a specified maximum value. It dynamically calculates the maximum allowable robot velocity based on the current angular velocity requirement.

Throws

if maxAngVel is not positive

Constructors

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constructor(maxAngVel: Double)

Properties

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@JvmField
val maxAngVel: Double

The maximum angular velocity (must be positive)

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.