Function nav2_regulated_pure_pursuit_controller::heuristics::costConstraint

Defined in File regulation_functions.hpp

Function Documentation

inline double nav2_regulated_pure_pursuit_controller::heuristics::costConstraint(const double raw_linear_vel, const double pose_cost, std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros, Parameters *params)

apply cost constraint regulation on the linear velocity

Parameters:

raw_linear_velocity – Raw linear velocity desired
pose_cost – Cost at the robot pose
costmap_ros – Costmap object to query
params – Parameters

Returns:

Velocity after applying the curvature constraint