00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, PAL Robotics, S.L. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the PAL Robotics nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* 00036 * Author: Enrique Fernández 00037 */ 00038 00039 #ifndef SPEED_LIMITER_H 00040 #define SPEED_LIMITER_H 00041 00042 namespace steer_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