core/gay.zharel.hermes.profiles/CompositeAccelConstraint

CompositeAccelConstraint

class CompositeAccelConstraint(val constraints: List<AccelConstraint>, val offsets: List<Double>) : AccelConstraint

Composite acceleration constraint that applies different constraints at different path positions.

This constraint allows for varying acceleration limits along the path by switching between different constraints at specified arc length offsets. The constraint searches through the offsets from largest to smallest to determine which constraint applies at a given position.

Throws

if the size relationship between constraints and offsets is invalid

Constructors

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constructor(constraints: List<AccelConstraint>, offsets: List<Double>)

Properties

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@JvmField
val constraints: List<AccelConstraint>

List of acceleration constraints to apply in different regions

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@JvmField
val offsets: List<Double>

List of arc length offsets defining when each constraint becomes active. Must have size equal to constraints.size + 1

Functions

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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.