core/gay.zharel.hermes.profiles/ProfileAccelConstraint/minMaxProfileAccel

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.

Return

A MinMax containing the minimum and maximum allowable accelerations

Parameters

robotState

The current state of the robot

path

The path being followed

s

The arc length parameter along the path