Class SpeedLimiter

Defined in File speed_limiter.hpp

Class Documentation

class SpeedLimiter

Public Functions

inline SpeedLimiter(bool has_velocity_limits = true, bool has_acceleration_limits = true, bool has_jerk_limits = true, double min_velocity = std::numeric_limits<double>::quiet_NaN(), double max_velocity = std::numeric_limits<double>::quiet_NaN(), double max_deceleration = std::numeric_limits<double>::quiet_NaN(), double max_acceleration = std::numeric_limits<double>::quiet_NaN(), double min_jerk = std::numeric_limits<double>::quiet_NaN(), double max_jerk = std::numeric_limits<double>::quiet_NaN())

Constructor.

Parameters:

has_velocity_limits – [in] if true, applies velocity limits
has_acceleration_limits – [in] if true, applies acceleration limits
has_jerk_limits – [in] if true, applies jerk limits
min_velocity – [in] Minimum velocity [m/s], usually <= 0
max_velocity – [in] Maximum velocity [m/s], usually >= 0
max_deceleration – [in] Maximum deceleration [m/s^2], usually <= 0
max_acceleration – [in] Maximum acceleration [m/s^2], usually >= 0
min_jerk – [in] Minimum jerk [m/s^3], usually <= 0
max_jerk – [in] Maximum jerk [m/s^3], usually >= 0

inline SpeedLimiter(double min_velocity = std::numeric_limits<double>::quiet_NaN(), double max_velocity = std::numeric_limits<double>::quiet_NaN(), double max_acceleration_reverse = std::numeric_limits<double>::quiet_NaN(), double max_acceleration = std::numeric_limits<double>::quiet_NaN(), double max_deceleration = std::numeric_limits<double>::quiet_NaN(), double max_deceleration_reverse = std::numeric_limits<double>::quiet_NaN(), double min_jerk = std::numeric_limits<double>::quiet_NaN(), double max_jerk = std::numeric_limits<double>::quiet_NaN())

Constructor.

Parameters:

min_velocity – [in] Minimum velocity [m/s], usually <= 0
max_velocity – [in] Maximum velocity [m/s], usually >= 0
max_acceleration_reverse – [in] Maximum acceleration in reverse direction [m/s^2], usually <= 0
max_acceleration – [in] Maximum acceleration [m/s^2], usually >= 0
max_deceleration – [in] Maximum deceleration [m/s^2], usually <= 0
max_deceleration_reverse – [in] Maximum deceleration in reverse direction [m/s^2], usually >= 0
min_jerk – [in] Minimum jerk [m/s^3], usually <= 0
max_jerk – [in] Maximum jerk [m/s^3], usually >= 0

inline double limit(double &v, double v0, double v1, double dt)

Limit the velocity and acceleration.

Parameters:

v – [inout] Velocity [m/s]
v0 – [in] Previous velocity to v [m/s]
v1 – [in] Previous velocity to v0 [m/s]
dt – [in] Time step [s]

Returns:

Limiting factor (1.0 if none)

inline double limit_velocity(double &v)

Limit the velocity.

Parameters:: v – [inout] Velocity [m/s]
Returns:: Limiting factor (1.0 if none)

inline double limit_acceleration(double &v, double v0, double dt)

Limit the acceleration.

Parameters:

v – [inout] Velocity [m/s]
v0 – [in] Previous velocity [m/s]
dt – [in] Time step [s]

Returns:

Limiting factor (1.0 if none)

inline double limit_jerk(double &v, double v0, double v1, double dt)

Limit the jerk.