max_velocity_constraint.h

#pragma once
 
#include "core/math/trajectory/constraints/trajectory_constraint.h"
#include "core/math/units.h"
 
using namespace units::literals;
 
/**
 * @brief Trajectory constraint that enforces a strict upper limit on velocity.
 */
class MaxVelocityConstraint : public TrajectoryConstraint {
 public:
  /**
   * @brief Constructs a MaxVelocityConstraint.
   * @param max_velocity Maximum allowed linear velocity.
   */
  explicit MaxVelocityConstraint(units::Velocity max_velocity)
      : max_velocity_(units::abs(max_velocity)) {}
 
  /**
   * @brief Computes maximum allowed velocity.
   * @param pose 2D position and orientation.
   * @param curvature Path curvature in rad/meter.
   * @param velocity Candidate linear velocity.
   * @return Constrained units::Velocity limit.
   */
  units::Velocity max_velocity(
      const Pose2d& pose, units::Curvature curvature, units::Velocity velocity
  ) const override {
    return max_velocity_;
  }
 
  /**
   * @brief Computes minimum and maximum allowed linear accelerations.
   * @param pose 2D position and orientation.
   * @param curvature Path curvature in rad/meter.
   * @param speed Current scalar speed.
   * @return MinMax acceleration bounds struct.
   */
  MinMax min_max_acceleration(
      const Pose2d& pose, units::Curvature curvature, units::Velocity speed
  ) const override {
    return {};
  }
 
  /**
   * @brief Creates an independent copy of this constraint.
   * @return Unique pointer to cloned MaxVelocityConstraint instance.
   */
  std::unique_ptr<TrajectoryConstraint> clone() const override {
    return std::unique_ptr<TrajectoryConstraint>(new MaxVelocityConstraint(*this));
  }
 
 private:
  units::Velocity max_velocity_;  ///< Maximum allowed linear velocity
};