speed_limiter.cpp
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34 
35 /*
36  * Author: Enrique Fernández
37  */
38 
39 #include <algorithm>
40 
42 
43 template<typename T>
44 T clamp(T x, T min, T max)
45 {
46  return std::min(std::max(min, x), max);
47 }
48 
50 {
51 
53  bool has_velocity_limits,
54  bool has_acceleration_limits,
55  double min_velocity,
56  double max_velocity,
57  double min_acceleration,
58  double max_acceleration
59  )
60  : has_velocity_limits(has_velocity_limits),
61  has_acceleration_limits(has_acceleration_limits),
62  min_velocity(min_velocity),
63  max_velocity(max_velocity),
64  min_acceleration(min_acceleration),
65  max_acceleration(max_acceleration)
66  {
67  }
68 
69  void SpeedLimiter::limit(double& v, double v0, double dt)
70  {
71  limit_velocity(v);
72  limit_acceleration(v, v0, dt);
73  }
74 
76  {
78  {
80  }
81  }
82 
83  void SpeedLimiter::limit_acceleration(double& v, double v0, double dt)
84  {
86  {
87  double dv = v - v0;
88 
89  const double dv_min = min_acceleration * dt;
90  const double dv_max = max_acceleration * dt;
91 
92  dv = clamp(dv, dv_min, dv_max);
93 
94  v = v0 + dv;
95  }
96  }
97 
98 } // namespace mecanum_drive_controller
void limit(double &v, double v0, double dt)
Limit the velocity and acceleration.
T clamp(T x, T min, T max)
SpeedLimiter(bool has_velocity_limits=false, bool has_acceleration_limits=false, double min_velocity=0.0, double max_velocity=0.0, double min_acceleration=0.0, double max_acceleration=0.0)
Constructor.
void limit_velocity(double &v)
Limit the velocity.
void limit_acceleration(double &v, double v0, double dt)
Limit the acceleration.


ridgeback_control
Author(s): Mike Purvis
autogenerated on Thu Mar 5 2020 03:31:54