core/gay.zharel.hermes.profiles/ProfileAccelConstraint

ProfileAccelConstraint

class ProfileAccelConstraint(val minAccel: Double, val maxAccel: Double) : AccelConstraint

Acceleration constraint defined by constant minimum and maximum acceleration values.

This constraint enforces fixed acceleration limits throughout the entire path. The minimum acceleration (for deceleration) must be negative, and the maximum acceleration must be positive.

Throws

IllegalArgumentException

if minAccel is not negative or maxAccel is not positive

Constructors

ProfileAccelConstraint

constructor(minAccel: Double, maxAccel: Double)

Properties

maxAccel

@JvmField

val maxAccel: Double

The maximum acceleration value (must be positive)

minAccel

@JvmField

val minAccel: Double

The minimum acceleration value (must be negative)

Functions

minMaxProfileAccel

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.