pyrobosim.core.dynamics.RobotDynamics2D.enforce_dynamics_limits

RobotDynamics2D.enforce_dynamics_limits(cmd_vel: Sequence[float], dt: float) → ndarray

Enforces velocity and acceleration limits by saturating a velocity command.

Parameters:

• cmd_vel – Velocity command array, in the form [vx, vy, vtheta].

• dt – Time step, in seconds.

Returns:

The saturated velocity command array.