centripetal_acceleration_constraint.h

#pragma once
 
#include <memory>
 
#include "core/math/trajectory/constraints/trajectory_constraint.h"
#include "core/math/units.h"
 
using namespace units::literals;

class CentripetalAccelerationConstraint : public TrajectoryConstraint {
 public:
  explicit CentripetalAccelerationConstraint(units::Acceleration max_centripetal_acceleration)
      : max_centripetal_acceleration_(max_centripetal_acceleration) {}

  units::Velocity max_velocity(const Pose2d& pose, units::Curvature curvature,
                               units::Velocity velocity) const override {
    if (units::abs(curvature) < 1e-9_radpm) {
      return units::Velocity(std::numeric_limits<double>::max());
    }
    return sqrt(max_centripetal_acceleration_ / units::abs(curvature / 1_rad));
  }

  MinMax min_max_acceleration(const Pose2d& pose, units::Curvature curvature,
                              units::Velocity speed) const override {
    return {};
  }

  std::unique_ptr<TrajectoryConstraint> clone() const override {
    return std::unique_ptr<TrajectoryConstraint>(new CentripetalAccelerationConstraint(*this));
  }
 
 private:
  units::Acceleration max_centripetal_acceleration_;  
};