Program Listing for File smooth_control_law.hpp

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// Copyright (c) 2023 Alberto J. Tudela Roldán
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef NAV2_GRACEFUL_CONTROLLER__SMOOTH_CONTROL_LAW_HPP_
#define NAV2_GRACEFUL_CONTROLLER__SMOOTH_CONTROL_LAW_HPP_

#include <algorithm>
#include <string>

#include "geometry_msgs/msg/pose.hpp"
#include "geometry_msgs/msg/twist.hpp"

namespace nav2_graceful_controller
{

class SmoothControlLaw
{
public:
  SmoothControlLaw(
    double k_phi, double k_delta, double beta, double lambda, double slowdown_radius,
    double v_linear_min, double v_linear_max, double v_angular_max);

  ~SmoothControlLaw() = default;

  void setCurvatureConstants(
    const double k_phi, const double k_delta, const double beta, const double lambda);

  void setSlowdownRadius(const double slowdown_radius);

  void setSpeedLimit(
    const double v_linear_min, const double v_linear_max,
    const double v_angular_max);

  geometry_msgs::msg::Twist calculateRegularVelocity(
    const geometry_msgs::msg::Pose & target,
    const geometry_msgs::msg::Pose & current,
    const bool & backward = false);

  geometry_msgs::msg::Twist calculateRegularVelocity(
    const geometry_msgs::msg::Pose & target,
    const bool & backward = false);

  geometry_msgs::msg::Pose calculateNextPose(
    const double dt,
    const geometry_msgs::msg::Pose & target,
    const geometry_msgs::msg::Pose & current,
    const bool & backward = false);

protected:
  double calculateCurvature(double r, double phi, double delta);

  double k_phi_;

  double k_delta_;

  double beta_;

  double lambda_;

  double slowdown_radius_;

  double v_linear_min_;

  double v_linear_max_;

  double v_angular_max_;
};

}  // namespace nav2_graceful_controller

#endif  // NAV2_GRACEFUL_CONTROLLER__SMOOTH_CONTROL_LAW_HPP_