Package org.chsrobotics.lib.trajectory.motionProfile

Class TrapezoidProfile.Constraints

java.lang.Object
org.chsrobotics.lib.trajectory.motionProfile.TrapezoidProfile.Constraints
Enclosing class:
TrapezoidProfile
public static class TrapezoidProfile.Constraints extends Object
Data class to hold the maximum allowed rates for the output of a TrapezoidProfile.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final double
    maxAcceleration
    Maximum absolute acceleration the profile can achieve.
    final double
    maxVelocity
    Maximum absolute velocity the profile can achieve.

  • Constructor Summary

    Constructors
    Constructor
    Description
    Constraints(double maxVelocity, double maxAcceleration)
    Constructs a TrapezoidProfileConstraints.

  • Method Summary

    Modifier and Type
    Method
    Description
    boolean
    equals(Object other)
     
    int
    hashCode()
     
    String
    toString()
     

    Methods inherited from class java.lang.Object

    getClass, notify, notifyAll, wait, wait, wait

  • Field Details

    • maxVelocity

      public final double maxVelocity
      Maximum absolute velocity the profile can achieve.

    • maxAcceleration

      public final double maxAcceleration
      Maximum absolute acceleration the profile can achieve.

  • Constructor Details

    • Constraints

      public Constraints(double maxVelocity, double maxAcceleration)
      Constructs a TrapezoidProfileConstraints.
      Parameters:
      maxVelocity - maximum allowed velocity.
      maxAcceleration - maximum allowed acceleration (both directions).

  • Method Details