Struct SpeedForCurvatureParameters

Defined in File route_speeds.h

Struct Documentation

struct SpeedForCurvatureParameters

Public Functions

explicit SpeedForCurvatureParameters(const rclcpp::Node::SharedPtr &node)

void loadFromRosParam()

void loadFromConfig(const marti_common_msgs::msg::KeyValueArray &config)

void readToConfig(marti_common_msgs::msg::KeyValueArray &config) const

Public Members

rclcpp::Node::SharedPtr node_

bool use_speed_from_accel_constant_: If true, use maximum lateral acceleration constant to calculate maximum speed. Otherwise, the curvature vs speed curve will be used.

double max_lateral_accel_mss_: Maximum lateral acceleration in accel mode in m/s^2.

swri_math_util::Interpolation1D speed_curve_: Speed as a function of curvature, applies when use_speed_from_accel_constant is false

double curvature_filter_size_