local_planner_limits.h
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34 
35 
36 #ifndef __base_local_planner__LOCALPLANNERLIMITS_H__
37 #define __base_local_planner__LOCALPLANNERLIMITS_H__
38 
39 #include <Eigen/Core>
40 
41 namespace base_local_planner
42 {
43 class LocalPlannerLimits
44 {
45 public:
46 
47  double max_vel_trans;
48  double min_vel_trans;
49  double max_vel_x;
50  double min_vel_x;
51  double max_vel_y;
52  double min_vel_y;
53  double max_vel_theta;
54  double min_vel_theta;
55  double acc_lim_x;
56  double acc_lim_y;
57  double acc_lim_theta;
58  double acc_lim_trans;
59  bool prune_plan;
60  double xy_goal_tolerance;
61  double yaw_goal_tolerance;
62  double trans_stopped_vel;
63  double theta_stopped_vel;
64  bool restore_defaults;
65 
67 
69  double nmax_vel_trans,
70  double nmin_vel_trans,
71  double nmax_vel_x,
72  double nmin_vel_x,
73  double nmax_vel_y,
74  double nmin_vel_y,
75  double nmax_vel_theta,
76  double nmin_vel_theta,
77  double nacc_lim_x,
78  double nacc_lim_y,
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) {}
103 
105 
110  Eigen::Vector3f getAccLimits() {
111  Eigen::Vector3f acc_limits;
112  acc_limits[0] = acc_lim_x;
113  acc_limits[1] = acc_lim_y;
114  acc_limits[2] = acc_lim_theta;
115  return acc_limits;
116  }
117 
118 };
119 
120 }
121 #endif // __LOCALPLANNERLIMITS_H__
base_local_planner::LocalPlannerLimits::prune_plan
bool prune_plan
Definition: local_planner_limits.h:123
base_local_planner::LocalPlannerLimits::xy_goal_tolerance
double xy_goal_tolerance
Definition: local_planner_limits.h:124
base_local_planner::LocalPlannerLimits::min_vel_x
double min_vel_x
Definition: local_planner_limits.h:114
base_local_planner::LocalPlannerLimits::acc_lim_y
double acc_lim_y
Definition: local_planner_limits.h:120
base_local_planner::LocalPlannerLimits::min_vel_y
double min_vel_y
Definition: local_planner_limits.h:116
base_local_planner::LocalPlannerLimits::restore_defaults
bool restore_defaults
Definition: local_planner_limits.h:128
base_local_planner::LocalPlannerLimits::max_vel_theta
double max_vel_theta
Definition: local_planner_limits.h:117
base_local_planner::LocalPlannerLimits::max_vel_x
double max_vel_x
Definition: local_planner_limits.h:113
base_local_planner::LocalPlannerLimits::theta_stopped_vel
double theta_stopped_vel
Definition: local_planner_limits.h:127
base_local_planner::LocalPlannerLimits::max_vel_trans
double max_vel_trans
Definition: local_planner_limits.h:111
base_local_planner::LocalPlannerLimits::getAccLimits
Eigen::Vector3f getAccLimits()
Get the acceleration limits of the robot.
Definition: local_planner_limits.h:174
base_local_planner::LocalPlannerLimits::min_vel_theta
double min_vel_theta
Definition: local_planner_limits.h:118
base_local_planner::LocalPlannerLimits::~LocalPlannerLimits
~LocalPlannerLimits()
Definition: local_planner_limits.h:168
base_local_planner::LocalPlannerLimits::LocalPlannerLimits
LocalPlannerLimits()
Definition: local_planner_limits.h:130
base_local_planner::LocalPlannerLimits::trans_stopped_vel
double trans_stopped_vel
Definition: local_planner_limits.h:126
base_local_planner::LocalPlannerLimits::acc_lim_trans
double acc_lim_trans
Definition: local_planner_limits.h:122
base_local_planner::LocalPlannerLimits::min_vel_trans
double min_vel_trans
Definition: local_planner_limits.h:112
base_local_planner::LocalPlannerLimits::acc_lim_x
double acc_lim_x
Definition: local_planner_limits.h:119
base_local_planner
Definition: costmap_model.h:44
base_local_planner::LocalPlannerLimits::max_vel_y
double max_vel_y
Definition: local_planner_limits.h:115
base_local_planner::LocalPlannerLimits::yaw_goal_tolerance
double yaw_goal_tolerance
Definition: local_planner_limits.h:125
base_local_planner::LocalPlannerLimits::acc_lim_theta
double acc_lim_theta
Definition: local_planner_limits.h:121


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Mon Mar 6 2023 03:50:24