core/gay.zharel.hermes.profiles/MinVelConstraint

MinVelConstraint

class MinVelConstraint(val constraints: List<VelConstraint>) : VelConstraint

Composite velocity constraint that enforces the minimum of multiple constraints.

This constraint evaluates all provided velocity constraints and returns the most restrictive (minimum) maximum velocity. This is useful for combining multiple constraints such as translational and angular velocity limits.

Constructors

MinVelConstraint

constructor(constraints: List<VelConstraint>)

Properties

constraints

@JvmField

val constraints: List<VelConstraint>

List of velocity constraints to combine

Functions

maxRobotVel

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

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