kinematic_parameters.h

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#ifndef DWB_PLUGINS_KINEMATIC_PARAMETERS_H
#define DWB_PLUGINS_KINEMATIC_PARAMETERS_H
 
#include <ros/ros.h>
#include <dynamic_reconfigure/server.h>
#include <dwb_plugins/KinematicParamsConfig.h>
#include <memory>
 
namespace dwb_plugins
{
 
class KinematicParameters
{
public:
  KinematicParameters();
  void initialize(const ros::NodeHandle& nh);
 
  inline double getMinX() { return min_vel_x_; }
  inline double getMaxX() { return max_vel_x_; }
  inline double getAccX() { return acc_lim_x_; }
  inline double getDecelX() { return decel_lim_x_; }
 
  inline double getMinY() { return min_vel_y_; }
  inline double getMaxY() { return max_vel_y_; }
  inline double getAccY() { return acc_lim_y_; }
  inline double getDecelY() { return decel_lim_y_; }
 
  inline double getMinSpeedXY() { return min_speed_xy_; }
 
  inline double getMinTheta() { return -max_vel_theta_; }
  inline double getMaxTheta() { return max_vel_theta_; }
  inline double getAccTheta() { return acc_lim_theta_; }
  inline double getDecelTheta() { return decel_lim_theta_; }
  inline double getMinSpeedTheta() { return min_speed_theta_; }
 
  bool isValidSpeed(double x, double y, double theta);
 
  using Ptr = std::shared_ptr<KinematicParameters>;
protected:
  // For parameter descriptions, see cfg/KinematicParams.cfg
  double min_vel_x_, min_vel_y_;
  double max_vel_x_, max_vel_y_, max_vel_theta_;
 
  double min_speed_xy_, max_speed_xy_;
  double min_speed_theta_;
 
  double acc_lim_x_, acc_lim_y_, acc_lim_theta_;
  double decel_lim_x_, decel_lim_y_, decel_lim_theta_;
 
  // Cached square values of min_speed_xy and max_speed_xy
  double min_speed_xy_sq_, max_speed_xy_sq_;
 
  void reconfigureCB(KinematicParamsConfig &config, uint32_t level);
  std::shared_ptr<dynamic_reconfigure::Server<KinematicParamsConfig> > dsrv_;
};
 
}  // namespace dwb_plugins
 
#endif  // DWB_PLUGINS_KINEMATIC_PARAMETERS_H