speed_limiter.h
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00001 /*********************************************************************
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00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
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00034 
00035 /*
00036  * Author: Enrique Fernández
00037  */
00038 
00039 #ifndef SPEED_LIMITER_H
00040 #define SPEED_LIMITER_H
00041 
00042 namespace diff_drive_controller
00043 {
00044 
00045   class SpeedLimiter
00046   {
00047   public:
00048 
00061     SpeedLimiter(
00062       bool has_velocity_limits = false,
00063       bool has_acceleration_limits = false,
00064       bool has_jerk_limits = false,
00065       double min_velocity = 0.0,
00066       double max_velocity = 0.0,
00067       double min_acceleration = 0.0,
00068       double max_acceleration = 0.0,
00069       double min_jerk = 0.0,
00070       double max_jerk = 0.0
00071     );
00072 
00081     double limit(double& v, double v0, double v1, double dt);
00082 
00088     double limit_velocity(double& v);
00089 
00097     double limit_acceleration(double& v, double v0, double dt);
00098 
00108     double limit_jerk(double& v, double v0, double v1, double dt);
00109 
00110   public:
00111     // Enable/Disable velocity/acceleration/jerk limits:
00112     bool has_velocity_limits;
00113     bool has_acceleration_limits;
00114     bool has_jerk_limits;
00115 
00116     // Velocity limits:
00117     double min_velocity;
00118     double max_velocity;
00119 
00120     // Acceleration limits:
00121     double min_acceleration;
00122     double max_acceleration;
00123 
00124     // Jerk limits:
00125     double min_jerk;
00126     double max_jerk;
00127   };
00128 
00129 } // namespace diff_drive_controller
00130 
00131 #endif // SPEED_LIMITER_H


diff_drive_controller
Author(s): Bence Magyar
autogenerated on Thu Jun 6 2019 18:58:48