36 #ifndef __base_local_planner__LOCALPLANNERLIMITS_H__ 37 #define __base_local_planner__LOCALPLANNERLIMITS_H__ 69 double nmax_vel_trans,
70 double nmin_vel_trans,
75 double nmax_vel_theta,
76 double nmin_vel_theta,
79 double nacc_lim_theta,
80 double nacc_lim_trans,
81 double nxy_goal_tolerance,
82 double nyaw_goal_tolerance,
83 bool nprune_plan =
true,
84 double ntrans_stopped_vel = 0.1,
85 double ntheta_stopped_vel = 0.1):
86 max_vel_trans(nmax_vel_trans),
87 min_vel_trans(nmin_vel_trans),
88 max_vel_x(nmax_vel_x),
89 min_vel_x(nmin_vel_x),
90 max_vel_y(nmax_vel_y),
91 min_vel_y(nmin_vel_y),
92 max_vel_theta(nmax_vel_theta),
93 min_vel_theta(nmin_vel_theta),
94 acc_lim_x(nacc_lim_x),
95 acc_lim_y(nacc_lim_y),
96 acc_lim_theta(nacc_lim_theta),
97 acc_lim_trans(nacc_lim_trans),
98 prune_plan(nprune_plan),
99 xy_goal_tolerance(nxy_goal_tolerance),
100 yaw_goal_tolerance(nyaw_goal_tolerance),
101 trans_stopped_vel(ntrans_stopped_vel),
102 theta_stopped_vel(ntheta_stopped_vel) {}
111 Eigen::Vector3f acc_limits;
121 #endif // __LOCALPLANNERLIMITS_H__ Eigen::Vector3f getAccLimits()
Get the acceleration limits of the robot.
LocalPlannerLimits(double nmax_vel_trans, double nmin_vel_trans, double nmax_vel_x, double nmin_vel_x, double nmax_vel_y, double nmin_vel_y, double nmax_vel_theta, double nmin_vel_theta, double nacc_lim_x, double nacc_lim_y, double nacc_lim_theta, double nacc_lim_trans, double nxy_goal_tolerance, double nyaw_goal_tolerance, bool nprune_plan=true, double ntrans_stopped_vel=0.1, double ntheta_stopped_vel=0.1)
double yaw_goal_tolerance