xbot::AccelerationLimiter Class Reference

An acceleration limiter for the xbot. More...

#include <acceleration_limiter.hpp>

Public Member Functions
	AccelerationLimiter ()
void	init (bool enable_acceleration_limiter, float linear_acceleration_max_=0.5, float angular_acceleration_max_=3.5, float linear_deceleration_max_=-0.5 *1.2, float angular_deceleration_max_=-3.5 *1.2)
bool	isEnabled () const
std::vector< float >	limit (const std::vector< float > &command)
	Limits the input velocity commands if gatekeeper is enabled. More...
std::vector< float >	limit (const float &vx, const float &wz)

Private Attributes
float	angular_acceleration_max
float	angular_deceleration_max
float	command_vx
float	command_wz
bool	is_enabled
short	last_radius
short	last_speed
ecl::TimeStamp	last_timestamp
float	last_vx
float	last_wz
float	linear_acceleration_max
float	linear_deceleration_max

Detailed Description

An acceleration limiter for the xbot.

This class will check incoming velocity commands and limit them if the change since the last incoming command is great.

Right now, this hasn't got any configurable parameters for the user - that might be an option to provide for users in the future. Ideally

• User can disable this and do their own velocity smoothing outside.
• User can enable this with defaults (fairly high accelerations)
• (Later) User can enable this reconfigure a parameter to suit.

Definition at line 50 of file acceleration_limiter.hpp.

Constructor & Destructor Documentation

xbot::AccelerationLimiter::AccelerationLimiter ( )

inline

Definition at line 52 of file acceleration_limiter.hpp.

Member Function Documentation

void xbot::AccelerationLimiter::init ( bool  enable_acceleration_limiter, float  linear_acceleration_max_ = 0.5, float  angular_acceleration_max_ = 3.5, float  linear_deceleration_max_ = -0.5*1.2, float  angular_deceleration_max_ = -3.5*1.2  )

inline

Definition at line 57 of file acceleration_limiter.hpp.

bool xbot::AccelerationLimiter::isEnabled ( ) const

inline

Definition at line 68 of file acceleration_limiter.hpp.

std::vector<float> xbot::AccelerationLimiter::limit ( const std::vector< float > &  command )

inline

Limits the input velocity commands if gatekeeper is enabled.

What is the limit?

Parameters

command

: translation and angular velocity components in a 2-dim vector.

Definition at line 77 of file acceleration_limiter.hpp.

std::vector<float> xbot::AccelerationLimiter::limit ( const float &  vx, const float &  wz  )

inline

Definition at line 79 of file acceleration_limiter.hpp.

Member Data Documentation

float xbot::AccelerationLimiter::angular_acceleration_max

private

Definition at line 135 of file acceleration_limiter.hpp.

float xbot::AccelerationLimiter::angular_deceleration_max

private

Definition at line 135 of file acceleration_limiter.hpp.

float xbot::AccelerationLimiter::command_vx

private

Definition at line 133 of file acceleration_limiter.hpp.

float xbot::AccelerationLimiter::command_wz

private

Definition at line 133 of file acceleration_limiter.hpp.

bool xbot::AccelerationLimiter::is_enabled

private

Definition at line 126 of file acceleration_limiter.hpp.

short xbot::AccelerationLimiter::last_radius

private

Definition at line 128 of file acceleration_limiter.hpp.

short xbot::AccelerationLimiter::last_speed

private

Definition at line 127 of file acceleration_limiter.hpp.

ecl::TimeStamp xbot::AccelerationLimiter::last_timestamp

private

Definition at line 130 of file acceleration_limiter.hpp.

float xbot::AccelerationLimiter::last_vx

private

Definition at line 132 of file acceleration_limiter.hpp.

float xbot::AccelerationLimiter::last_wz

private

Definition at line 132 of file acceleration_limiter.hpp.

float xbot::AccelerationLimiter::linear_acceleration_max

private

Definition at line 134 of file acceleration_limiter.hpp.

float xbot::AccelerationLimiter::linear_deceleration_max

private

Definition at line 134 of file acceleration_limiter.hpp.

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The documentation for this class was generated from the following file:

• acceleration_limiter.hpp