0.3.4

core/gay.zharel.hermes.profiles/CompositeVelConstraint

CompositeVelConstraint

class CompositeVelConstraint(val constraints: List<VelConstraint>, val offsets: List<Double>) : VelConstraint

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

This constraint allows for varying velocity 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

IllegalArgumentException

if the size relationship between constraints and offsets is invalid

Constructors

CompositeVelConstraint

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

Properties

val constraints: List<VelConstraint>

List of velocity constraints to apply in different regions

val offsets: List<Double>

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

Functions

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

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