Limits the acceleration in the generated trajectories to a fraction of the simulated time. More...

#include <limited_accel_generator.h>

Inheritance diagram for dwb_plugins::LimitedAccelGenerator:

Public Member Functions
void	checkUseDwaParam (const ros::NodeHandle &nh) override
	Check if the deprecated use_dwa parameter is set to the functionality that matches this class. More...

void	initialize (ros::NodeHandle &nh) override

void	startNewIteration (const nav_2d_msgs::Twist2D &current_velocity) override

Public Member Functions inherited from dwb_plugins::StandardTrajectoryGenerator
dwb_msgs::Trajectory2D	generateTrajectory (const geometry_msgs::Pose2D &start_pose, const nav_2d_msgs::Twist2D &start_vel, const nav_2d_msgs::Twist2D &cmd_vel) override

bool	hasMoreTwists () override

void	initialize (ros::NodeHandle &nh) override

nav_2d_msgs::Twist2D	nextTwist () override

void	startNewIteration (const nav_2d_msgs::Twist2D &current_velocity) override

Public Member Functions inherited from dwb_local_planner::TrajectoryGenerator
virtual std::vector< nav_2d_msgs::Twist2D >	getTwists (const nav_2d_msgs::Twist2D &current_velocity)

virtual void	reset ()

virtual	~TrajectoryGenerator ()

Protected Member Functions
nav_2d_msgs::Twist2D	computeNewVelocity (const nav_2d_msgs::Twist2D &cmd_vel, const nav_2d_msgs::Twist2D &start_vel, const double dt) override
	Calculate the velocity after a set period of time, given the desired velocity and acceleration limits. More...

Protected Member Functions inherited from dwb_plugins::StandardTrajectoryGenerator
virtual geometry_msgs::Pose2D	computeNewPosition (const geometry_msgs::Pose2D start_pose, const nav_2d_msgs::Twist2D &vel, const double dt)
	Use the robot's kinematic model to predict new positions for the robot. More...

virtual std::vector< double >	getTimeSteps (const nav_2d_msgs::Twist2D &cmd_vel)
	Compute an array of time deltas between the points in the generated trajectory. More...

virtual void	initializeIterator (ros::NodeHandle &nh)
	Initialize the VelocityIterator pointer. Put in its own function for easy overriding. More...

Protected Attributes
double	acceleration_time_

Protected Attributes inherited from dwb_plugins::StandardTrajectoryGenerator
double	angular_granularity_
	If not discretizing by time, the amount of angular space between points. More...

bool	discretize_by_time_

bool	include_last_point_

KinematicParameters::Ptr	kinematics_

double	linear_granularity_
	If not discretizing by time, the amount of linear space between points. More...

double	sim_time_

double	time_granularity_
	If discretizing by time, the amount of time between each point in the traj. More...

std::shared_ptr< VelocityIterator >	velocity_iterator_

Additional Inherited Members
Public Types inherited from dwb_local_planner::TrajectoryGenerator
typedef std::shared_ptr< dwb_local_planner::TrajectoryGenerator >	Ptr

Detailed Description

Limits the acceleration in the generated trajectories to a fraction of the simulated time.

Definition at line 46 of file limited_accel_generator.h.

Member Function Documentation

◆ checkUseDwaParam()

void dwb_plugins::LimitedAccelGenerator::checkUseDwaParam ( const ros::NodeHandle & nh )

overridevirtual

Check if the deprecated use_dwa parameter is set to the functionality that matches this class.

The functionality guarded by the use_dwa parameter has been split between this class and the derived LimitedAccelGenerator. If use_dwa was false, this class should be used. If it was true, then LimitedAccelGenerator. If this is NOT the case, this function will throw an exception.

Reimplemented from dwb_plugins::StandardTrajectoryGenerator.

Definition at line 67 of file limited_accel_generator.cpp.

◆ computeNewVelocity()

nav_2d_msgs::Twist2D dwb_plugins::LimitedAccelGenerator::computeNewVelocity	(	const nav_2d_msgs::Twist2D &	cmd_vel,
		const nav_2d_msgs::Twist2D &	start_vel,
		const double	dt
	)