Class SteeringLimiter
Defined in File steering_limiter.hpp
Class Documentation
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class SteeringLimiter
Public Functions
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SteeringLimiter(double min_position = NAN, double max_position = NAN, double min_velocity = NAN, double max_velocity = NAN, double min_acceleration = NAN, double max_acceleration = NAN)
Constructor.
- Parameters:
min_position – [in] Minimum position [m] or [rad]
max_position – [in] Maximum position [m] or [rad]
min_velocity – [in] Minimum velocity [m/s] or [rad/s]
max_velocity – [in] Maximum velocity [m/s] or [rad/s]
min_acceleration – [in] Minimum acceleration [m/s^2] or [rad/s^2]
max_acceleration – [in] Maximum acceleration [m/s^2] or [rad/s^2]
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double limit(double &p, double p0, double p1, double dt)
Limit the position, velocity and acceleration.
- Parameters:
p – [inout] position [m] or [rad]
p0 – [in] Previous position to p [m] or [rad]
p1 – [in] Previous position to p0 [m] or [rad]
dt – [in] Time step [s]
- Returns:
Limiting factor (1.0 if none)
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double limit_position(double &p)
Limit the jerk.
- Parameters:
p – [inout] position [m] or [rad]
p0 – [in] Previous position to p [m] or [rad]
p1 – [in] Previous position to p0 [m] or [rad]
dt – [in] Time step [s]
- Returns:
Limiting factor (1.0 if none)
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double limit_velocity(double &p, double p0, double dt)
Limit the velocity.
- Parameters:
p – [inout] position [m]
- Returns:
Limiting factor (1.0 if none)
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double limit_acceleration(double &p, double p0, double p1, double dt)
Limit the acceleration.
- Parameters:
p – [inout] Position [m] or [rad]
p0 – [in] Previous position [m] or [rad]
dt – [in] Time step [s]
- Returns:
Limiting factor (1.0 if none)
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SteeringLimiter(double min_position = NAN, double max_position = NAN, double min_velocity = NAN, double max_velocity = NAN, double min_acceleration = NAN, double max_acceleration = NAN)