Class AccelerationLimiter

Class Documentation

class AccelerationLimiter

An acceleration limiter for the kobuki.

This class will check incoming velocity commands and limit them if the change since the last incoming command is great.

Right now, this hasn’t got any configurable parameters for the user - that might be an option to provide for users in the future. Ideally

  • User can disable this and do their own velocity smoothing outside.

  • User can enable this with defaults (fairly high accelerations)

  • (Later) User can enable this reconfigure a parameter to suit.

Public Functions

inline AccelerationLimiter()
inline void init(bool enable_acceleration_limiter, double linear_acceleration_max_ = 0.5, double angular_acceleration_max_ = 3.5, double linear_deceleration_max_ = -0.5 * 1.2, double angular_deceleration_max_ = -3.5 * 1.2)
inline bool isEnabled() const
inline std::vector<double> limit(const std::vector<double> &command)

Limits the input velocity commands if gatekeeper is enabled.

What is the limit?

Parameters:

command – : translation and angular velocity components in a 2-dim vector.

inline std::vector<double> limit(const double &vx, const double &wz)