core/gay.zharel.hermes.profiles/TranslationalVelConstraint

TranslationalVelConstraint

class TranslationalVelConstraint(val maxTransVel: Double) : VelConstraint

Velocity constraint based on maximum translational velocity.

This constraint ensures that the robot's translational velocity does not exceed a specified maximum value at any point along the path.

Throws

if maxTransVel is not positive

Constructors

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constructor(maxTransVel: Double)

Properties

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@JvmField
val maxTransVel: Double

The maximum translational velocity (must be positive)

Functions

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

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