kobuki::AccelerationLimiter Class Reference

An acceleration limiter for the kobuki. More...

#include <acceleration_limiter.hpp>

List of all members.

Public Member Functions
	AccelerationLimiter ()
void	init (bool enable_acceleration_limiter, double linear_acceleration_max_=0.5, double angular_acceleration_max_=3.5, double linear_deceleration_max_=-0.5 *1.2, double angular_deceleration_max_=-3.5 *1.2)
bool	isEnabled () const
std::vector< double >	limit (const std::vector< double > &command)
	Limits the input velocity commands if gatekeeper is enabled.
std::vector< double >	limit (const double &vx, const double &wz)
Private Attributes
double	angular_acceleration_max
double	angular_deceleration_max
double	command_vx
double	command_wz
bool	is_enabled
short	last_radius
short	last_speed
ecl::TimeStamp	last_timestamp
double	last_vx
double	last_wz
double	linear_acceleration_max
double	linear_deceleration_max

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Detailed Description

An acceleration limiter for the kobuki.

This class will check incoming velocity commands and limit them if the change since the last incoming command is great.

Right now, this hasn't got any configurable parameters for the user - that might be an option to provide for users in the future. Ideally

• User can disable this and do their own velocity smoothing outside.
• User can enable this with defaults (fairly high accelerations)
• (Later) User can enable this reconfigure a parameter to suit.

Definition at line 50 of file acceleration_limiter.hpp.

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Constructor & Destructor Documentation

kobuki::AccelerationLimiter::AccelerationLimiter

(

)

[inline]

Definition at line 52 of file acceleration_limiter.hpp.

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Member Function Documentation

void kobuki::AccelerationLimiter::init	(	bool	enable_acceleration_limiter,
		double	linear_acceleration_max_ = 0.5,
		double	angular_acceleration_max_ = 3.5,
		double	linear_deceleration_max_ = -0.5*1.2,
		double	angular_deceleration_max_ = -3.5*1.2
	)		[inline]

Definition at line 57 of file acceleration_limiter.hpp.

bool kobuki::AccelerationLimiter::isEnabled

(

)

const [inline]

Definition at line 68 of file acceleration_limiter.hpp.

std::vector<double> kobuki::AccelerationLimiter::limit

(

const std::vector< double > &

command

)

[inline]

Limits the input velocity commands if gatekeeper is enabled.

What is the limit?

Parameters:

command

: translation and angular velocity components in a 2-dim vector.

Definition at line 77 of file acceleration_limiter.hpp.

std::vector<double> kobuki::AccelerationLimiter::limit	(	const double &	vx,
		const double &	wz
	)		[inline]

Definition at line 79 of file acceleration_limiter.hpp.

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Member Data Documentation

double kobuki::AccelerationLimiter::angular_acceleration_max [private]

Definition at line 135 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::angular_deceleration_max [private]

Definition at line 135 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::command_vx [private]

Definition at line 133 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::command_wz [private]

Definition at line 133 of file acceleration_limiter.hpp.

bool kobuki::AccelerationLimiter::is_enabled [private]

Definition at line 126 of file acceleration_limiter.hpp.

short kobuki::AccelerationLimiter::last_radius [private]

Definition at line 128 of file acceleration_limiter.hpp.

short kobuki::AccelerationLimiter::last_speed [private]

Definition at line 127 of file acceleration_limiter.hpp.

ecl::TimeStamp kobuki::AccelerationLimiter::last_timestamp [private]

Definition at line 130 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::last_vx [private]

Definition at line 132 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::last_wz [private]

Definition at line 132 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::linear_acceleration_max [private]

Definition at line 134 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::linear_deceleration_max [private]

Definition at line 134 of file acceleration_limiter.hpp.

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The documentation for this class was generated from the following file:

• acceleration_limiter.hpp