Public Member Functions | Private Attributes
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

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

Definition at line 50 of file acceleration_limiter.hpp.


Constructor & Destructor Documentation

Definition at line 52 of file acceleration_limiter.hpp.


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.


Member Data Documentation

Definition at line 135 of file acceleration_limiter.hpp.

Definition at line 135 of file acceleration_limiter.hpp.

Definition at line 133 of file acceleration_limiter.hpp.

Definition at line 133 of file acceleration_limiter.hpp.

Definition at line 126 of file acceleration_limiter.hpp.

Definition at line 128 of file acceleration_limiter.hpp.

Definition at line 127 of file acceleration_limiter.hpp.

Definition at line 130 of file acceleration_limiter.hpp.

Definition at line 132 of file acceleration_limiter.hpp.

Definition at line 132 of file acceleration_limiter.hpp.

Definition at line 134 of file acceleration_limiter.hpp.

Definition at line 134 of file acceleration_limiter.hpp.


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


kobuki_driver
Author(s): Daniel Stonier , Younghun Ju , Jorge Santos Simon
autogenerated on Thu Jun 6 2019 20:24:37