Function nav2_regulated_pure_pursuit_controller::heuristics::curvatureConstraint

Defined in File regulation_functions.hpp

Function Documentation

inline double nav2_regulated_pure_pursuit_controller::heuristics::curvatureConstraint(const double raw_linear_vel, const double curvature, const double min_radius)

apply curvature constraint regulation on the linear velocity

Parameters:

raw_linear_velocity – Raw linear velocity desired
curvature – Curvature of the current command to follow the path
min_radius – Minimum path radius to apply the heuristic

Returns:

Velocity after applying the curvature constraint