AsymmetricTrapezoidProfile.Constraints (spartanLib2 API)

java.lang.Object
- org.chsrobotics.lib.trajectory.AsymmetricTrapezoidProfile.Constraints

Enclosing class:

AsymmetricTrapezoidProfile
```
public static class AsymmetricTrapezoidProfile.Constraints
extends java.lang.Object
```
A data class to hold the maximum allowable rates for the output of a AsymmetricTrapezoidProfile.
Because of the number of cases this profile has to handle, acceleration and deceleration don't coorespond to acceleration in a specific direction, or towards higher/lower absolute values. It's probably best to think of them as the acceleration constraint for the first phase of motion, and deceleration constraint for the final phase of motion.

Field Summary

Fields
Modifier and Type Field Description

double maxAcceleration

double maxDeceleration

double maxVelocity

Constructor Summary

Constructors
Constructor	Description
`Constraints(double maxVelocity, double maxAcceleration, double maxDeceleration)`	Constructs Constraints for a AsymmetricTrapezoidProfile.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type Method Description

boolean equals(java.lang.Object other)

int hashCode()

java.lang.String toString()
- Methods inherited from class java.lang.Object
  clone, finalize, getClass, notify, notifyAll, wait, wait, wait

- Field Detail
  - maxVelocity
```
public final double maxVelocity
```
  - maxAcceleration
```
public final double maxAcceleration
```
  - maxDeceleration
```
public final double maxDeceleration
```
- Constructor Detail
  - Constraints
```
public Constraints(double maxVelocity,
                   double maxAcceleration,
                   double maxDeceleration)
```
    Constructs Constraints for a AsymmetricTrapezoidProfile.
    
    Parameters:
    
    maxVelocity - maximum velocity.
    
    maxAcceleration - maximum acceleration.
    
    maxDeceleration - maximum deceleration.
- Method Detail
  - equals
```
public boolean equals(java.lang.Object other)
```
    Overrides:
    
    equals in class java.lang.Object
  - hashCode
```
public int hashCode()
```
    Overrides:
    
    hashCode in class java.lang.Object
  - toString
```
public java.lang.String toString()
```
    Overrides:
    
    toString in class java.lang.Object