Limits the acceleration in the generated trajectories to a fraction of the simulated time. More...
#include <limited_accel_generator.h>
Public Member Functions | |
| void | checkUseDwaParam (const ros::NodeHandle &nh) override |
| Check if the deprecated use_dwa parameter is set to the functionality that matches this class. | |
| void | initialize (ros::NodeHandle &nh) override |
| void | startNewIteration (const nav_2d_msgs::Twist2D ¤t_velocity) override |
Protected Member Functions | |
| nav_2d_msgs::Twist2D | computeNewVelocity (const nav_2d_msgs::Twist2D &cmd_vel, const nav_2d_msgs::Twist2D &start_vel, const double dt) override |
| Calculate the velocity after a set period of time, given the desired velocity and acceleration limits. | |
Protected Attributes | |
| double | acceleration_time_ |
Detailed Description
Limits the acceleration in the generated trajectories to a fraction of the simulated time.
Definition at line 46 of file limited_accel_generator.h.
Member Function Documentation
| void dwb_plugins::LimitedAccelGenerator::checkUseDwaParam | ( | const ros::NodeHandle & | nh | ) | [override, virtual] |
Check if the deprecated use_dwa parameter is set to the functionality that matches this class.
The functionality guarded by the use_dwa parameter has been split between this class and the derived LimitedAccelGenerator. If use_dwa was false, this class should be used. If it was true, then LimitedAccelGenerator. If this is NOT the case, this function will throw an exception.
Reimplemented from dwb_plugins::StandardTrajectoryGenerator.
Definition at line 67 of file limited_accel_generator.cpp.
| nav_2d_msgs::Twist2D dwb_plugins::LimitedAccelGenerator::computeNewVelocity | ( | const nav_2d_msgs::Twist2D & | cmd_vel, |
| const nav_2d_msgs::Twist2D & | start_vel, | ||
| const double | dt | ||
| ) | [override, protected, virtual] |
Calculate the velocity after a set period of time, given the desired velocity and acceleration limits.
Unlike the StandardTrajectoryGenerator, the velocity remains constant in the LimitedAccelGenerator
- Parameters:
-
cmd_vel Desired velocity start_vel starting velocity dt amount of time in seconds
- Returns:
- cmd_vel
Reimplemented from dwb_plugins::StandardTrajectoryGenerator.
Definition at line 84 of file limited_accel_generator.cpp.
| void dwb_plugins::LimitedAccelGenerator::initialize | ( | ros::NodeHandle & | nh | ) | [override, virtual] |
Reimplemented from dwb_plugins::StandardTrajectoryGenerator.
Definition at line 44 of file limited_accel_generator.cpp.
| void dwb_plugins::LimitedAccelGenerator::startNewIteration | ( | const nav_2d_msgs::Twist2D & | current_velocity | ) | [override, virtual] |
Reimplemented from dwb_plugins::StandardTrajectoryGenerator.
Definition at line 78 of file limited_accel_generator.cpp.
Member Data Documentation
double dwb_plugins::LimitedAccelGenerator::acceleration_time_ [protected] |
Definition at line 65 of file limited_accel_generator.h.
The documentation for this class was generated from the following files: