speed_limiter.h

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/*
 * Author: Enrique Fernández
 */

#ifndef SPEED_LIMITER_H
#define SPEED_LIMITER_H

namespace mecanum_drive_controller
{

  class SpeedLimiter
  {
  public:

    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
    );

    void limit(double& v, double v0, double dt);

    void limit_velocity(double& v);

    void limit_acceleration(double& v, double v0, double dt);

  public:
    // Enable/Disable velocity/acceleration limits:
    bool has_velocity_limits;
    bool has_acceleration_limits;

    // Velocity limits:
    double min_velocity;
    double max_velocity;

    // Acceleration limits:
    double min_acceleration;
    double max_acceleration;
  };

} // namespace mecanum_drive_controller

#endif // SPEED_LIMITER_H