Public Member Functions | Public Attributes
mecanum_drive_controller::SpeedLimiter Class Reference

#include <speed_limiter.h>

List of all members.

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_limitsif true, applies velocity limits
[in]has_acceleration_limitsif true, applies acceleration limits
[in]min_velocityMinimum velocity [m/s], usually <= 0
[in]max_velocityMaximum velocity [m/s], usually >= 0
[in]min_accelerationMinimum acceleration [m/s^2], usually <= 0
[in]max_accelerationMaximum acceleration [m/s^2], usually >= 0

Definition at line 52 of file speed_limiter.cpp.


Member Function Documentation

void mecanum_drive_controller::SpeedLimiter::limit ( double &  v,
double  v0,
double  dt 
)

Limit the velocity and acceleration.

Parameters:
[in,out]vVelocity [m/s]
[in]v0Previous velocity [m/s]
[in]dtTime step [s]

Definition at line 69 of file speed_limiter.cpp.

void mecanum_drive_controller::SpeedLimiter::limit_acceleration ( double &  v,
double  v0,
double  dt 
)

Limit the acceleration.

Parameters:
[in,out]vVelocity [m/s]
[in]v0Previous velocity [m/s]
[in]dtTime step [s]

Definition at line 83 of file speed_limiter.cpp.

Limit the velocity.

Parameters:
[in,out]vVelocity [m/s]

Definition at line 75 of file speed_limiter.cpp.


Member Data Documentation

Definition at line 92 of file speed_limiter.h.

Definition at line 91 of file speed_limiter.h.

Definition at line 100 of file speed_limiter.h.

Definition at line 96 of file speed_limiter.h.

Definition at line 99 of file speed_limiter.h.

Definition at line 95 of file speed_limiter.h.


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


ridgeback_control
Author(s): Mike Purvis
autogenerated on Thu Jun 6 2019 21:19:02