#include <route_speeds.h>

Public Member Functions
void	loadFromConfig (const marti_common_msgs::KeyValueArray &config)

void	loadFromRosParam (const ros::NodeHandle &pnh)

void	readToConfig (marti_common_msgs::KeyValueArray &config) const

	SpeedForCurvatureParameters ()

Public Attributes
double	curvature_filter_size_

double	max_lateral_accel_mss_
	Maximum lateral acceleration in accel mode in m/s^2. More...

swri_math_util::Interpolation1D	speed_curve_

bool	use_speed_from_accel_constant_

Detailed Description

Definition at line 42 of file route_speeds.h.

Constructor & Destructor Documentation

◆ SpeedForCurvatureParameters()

swri_route_util::SpeedForCurvatureParameters::SpeedForCurvatureParameters ( )

Definition at line 52 of file route_speeds.cpp.

Member Function Documentation

◆ loadFromConfig()

void swri_route_util::SpeedForCurvatureParameters::loadFromConfig ( const marti_common_msgs::KeyValueArray & config )

Definition at line 84 of file route_speeds.cpp.

◆ loadFromRosParam()

void swri_route_util::SpeedForCurvatureParameters::loadFromRosParam ( const ros::NodeHandle & pnh )

Definition at line 60 of file route_speeds.cpp.

◆ readToConfig()

void swri_route_util::SpeedForCurvatureParameters::readToConfig ( marti_common_msgs::KeyValueArray & config ) const

Definition at line 165 of file route_speeds.cpp.

Member Data Documentation

◆ curvature_filter_size_

double swri_route_util::SpeedForCurvatureParameters::curvature_filter_size_

Definition at line 57 of file route_speeds.h.

◆ max_lateral_accel_mss_

double swri_route_util::SpeedForCurvatureParameters::max_lateral_accel_mss_

Maximum lateral acceleration in accel mode in m/s^2.

Definition at line 49 of file route_speeds.h.

◆ speed_curve_

swri_math_util::Interpolation1D swri_route_util::SpeedForCurvatureParameters::speed_curve_

Speed as a function of curvature, applies when use_speed_from_accel_constant is false

Definition at line 53 of file route_speeds.h.

◆ use_speed_from_accel_constant_

bool swri_route_util::SpeedForCurvatureParameters::use_speed_from_accel_constant_

If true, use maximum lateral acceleration constant to calculate maximum speed. Otherwise, the curvature vs speed curve will be used.

Definition at line 47 of file route_speeds.h.

The documentation for this struct was generated from the following files:

Public Member Functions

Public Attributes