max_velocity_constraint.h

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

class MaxVelocityConstraint : public TrajectoryConstraint {
 public:
  explicit MaxVelocityConstraint(units::Velocity max_velocity)
      : max_velocity_(units::abs(max_velocity)) {}

  units::Velocity max_velocity(const Pose2d& pose, units::Curvature curvature,
                               units::Velocity velocity) const override {
    return max_velocity_;
  }

  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 MaxVelocityConstraint(*this));
  }
 
 private:
  units::Velocity max_velocity_;  
};