Public Member Functions
void	limit (double &v, double v0, double dt)
	Limit the velocity and acceleration.
void	limit_acceleration (double &v, double v0, double dt)
	Limit the acceleration.
void	limit_velocity (double &v)
	Limit the velocity.
	SpeedLimiter (bool has_velocity_limits=false, bool has_acceleration_limits=false, double min_velocity=0.0, double max_velocity=0.0, double min_acceleration=0.0, double max_acceleration=0.0)
	Constructor.
Public Attributes
bool	has_acceleration_limits
bool	has_velocity_limits
double	max_acceleration
double	max_velocity
double	min_acceleration
double	min_velocity

Detailed Description

Definition at line 45 of file speed_limiter.h.

Constructor & Destructor Documentation

mecanum_drive_controller::SpeedLimiter::SpeedLimiter	(	bool	has_velocity_limits = `false`,
		bool	has_acceleration_limits = `false`,
		double	min_velocity = `0.0`,
		double	max_velocity = `0.0`,
		double	min_acceleration = `0.0`,
		double	max_acceleration = `0.0`
	)

Constructor.

Parameters:

[in]	has_velocity_limits	if true, applies velocity limits
[in]	has_acceleration_limits	if true, applies acceleration limits
[in]	min_velocity	Minimum velocity [m/s], usually <= 0
[in]	max_velocity	Maximum velocity [m/s], usually >= 0
[in]	min_acceleration	Minimum acceleration [m/s^2], usually <= 0
[in]	max_acceleration	Maximum acceleration [m/s^2], usually >= 0