Function nav2_regulated_pure_pursuit_controller::heuristics::approachVelocityConstraint

Defined in File regulation_functions.hpp

Function Documentation

inline double nav2_regulated_pure_pursuit_controller::heuristics::approachVelocityConstraint(const double constrained_linear_vel, const nav_msgs::msg::Path &path, const double min_approach_velocity, const double approach_velocity_scaling_dist)

Velocity on approach to goal heuristic regulation term.

Parameters:

constrained_linear_vel – Linear velocity already constrained by heuristics
path – The path plan in the robot base frame coordinates
min_approach_velocity – Minimum velocity to use on approach to goal
approach_velocity_scaling_dist – Distance away from goal to start applying this heuristic

Returns:

Velocity after regulation via approach to goal slow-down