dwb_plugins::OneDVelocityIterator Class Reference

An iterator for generating a number of samples in a range. More...

#include <one_d_velocity_iterator.h>

Public Member Functions
double	getVelocity () const
	Get the next velocity available. More...
bool	isFinished () const
	OneDVelocityIterator (double current, double min, double max, double acc_limit, double decel_limit, double acc_time, int num_samples)
	Constructor for the velocity iterator. More...
OneDVelocityIterator &	operator++ ()
	Increment the iterator. More...
void	reset ()
	Reset back to the first velocity. More...

Private Attributes
double	current_
double	increment_
double	max_vel_
double	min_vel_
bool	return_zero_
bool	return_zero_now_

Detailed Description

An iterator for generating a number of samples in a range.

In its simplest usage, this gives us N (num_samples) different velocities that are reachable given our current velocity. However, there is some fancy logic around zero velocities and the min/max velocities

If the current velocity is 2 m/s, and the acceleration limit is 1 m/ss and the acc_time is 1 s, this class would provide velocities between 1 m/s and 3 m/s.

Definition at line 85 of file one_d_velocity_iterator.h.

Constructor & Destructor Documentation

dwb_plugins::OneDVelocityIterator::OneDVelocityIterator ( double  current, double  min, double  max, double  acc_limit, double  decel_limit, double  acc_time, int  num_samples  )

inline

Constructor for the velocity iterator.

Parameters

current	Current velocity
min	Minimum velocity allowable
max	Maximum velocity allowable
acc_limit	Acceleration Limit
decel_limit	Deceleration Limit
num_samples	The number of samples to return

Definition at line 98 of file one_d_velocity_iterator.h.

Member Function Documentation

double dwb_plugins::OneDVelocityIterator::getVelocity ( ) const

inline

Get the next velocity available.

Definition at line 127 of file one_d_velocity_iterator.h.

bool dwb_plugins::OneDVelocityIterator::isFinished ( ) const

inline

If we have returned all the velocities for this iteration

Definition at line 164 of file one_d_velocity_iterator.h.

OneDVelocityIterator& dwb_plugins::OneDVelocityIterator::operator++ ( )

inline

Increment the iterator.

Definition at line 136 of file one_d_velocity_iterator.h.

void dwb_plugins::OneDVelocityIterator::reset ( )

inline

Reset back to the first velocity.

Definition at line 154 of file one_d_velocity_iterator.h.

Member Data Documentation

double dwb_plugins::OneDVelocityIterator::current_

private

Definition at line 172 of file one_d_velocity_iterator.h.

double dwb_plugins::OneDVelocityIterator::increment_

private

Definition at line 173 of file one_d_velocity_iterator.h.

double dwb_plugins::OneDVelocityIterator::max_vel_

private

Definition at line 171 of file one_d_velocity_iterator.h.

double dwb_plugins::OneDVelocityIterator::min_vel_

private

Definition at line 171 of file one_d_velocity_iterator.h.

bool dwb_plugins::OneDVelocityIterator::return_zero_

private

Definition at line 170 of file one_d_velocity_iterator.h.

bool dwb_plugins::OneDVelocityIterator::return_zero_now_

private

Definition at line 170 of file one_d_velocity_iterator.h.

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

• one_d_velocity_iterator.h