speed_limiter.cpp
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00034 
00035 /*
00036  * Author: Enrique Fernández
00037  */
00038 
00039 #include <algorithm>
00040 
00041 #include <diff_drive_controller/speed_limiter.h>
00042 
00043 template<typename T>
00044 T clamp(T x, T min, T max)
00045 {
00046   return std::min(std::max(min, x), max);
00047 }
00048 
00049 namespace diff_drive_controller
00050 {
00051 
00052   SpeedLimiter::SpeedLimiter(
00053     bool has_velocity_limits,
00054     bool has_acceleration_limits,
00055     double min_velocity,
00056     double max_velocity,
00057     double min_acceleration,
00058     double max_acceleration
00059   )
00060   : has_velocity_limits(has_velocity_limits),
00061     has_acceleration_limits(has_acceleration_limits),
00062     min_velocity(min_velocity),
00063     max_velocity(max_velocity),
00064     min_acceleration(min_acceleration),
00065     max_acceleration(max_acceleration)
00066   {
00067   }
00068 
00069   void SpeedLimiter::limit(double& v, double v0, double dt)
00070   {
00071     limit_velocity(v);
00072     limit_acceleration(v, v0, dt);
00073   }
00074 
00075   void SpeedLimiter::limit_velocity(double& v)
00076   {
00077     if (has_velocity_limits)
00078     {
00079       v = clamp(v, min_velocity, max_velocity);
00080     }
00081   }
00082 
00083   void SpeedLimiter::limit_acceleration(double& v, double v0, double dt)
00084   {
00085     if (has_acceleration_limits)
00086     {
00087       double dv = v - v0;
00088 
00089       const double dv_min = min_acceleration * dt;
00090       const double dv_max = max_acceleration * dt;
00091 
00092       dv = clamp(dv, dv_min, dv_max);
00093 
00094       v = v0 + dv;
00095     }
00096   }
00097 
00098 } // namespace diff_drive_controller


diff_drive_controller
Author(s): Bence Magyar
autogenerated on Fri Aug 28 2015 12:36:51