speed_limiter.h
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00001 /*********************************************************************
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00004  *  Copyright (c) 2013, PAL Robotics, S.L.
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00007  *  Redistribution and use in source and binary forms, with or without
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00010  *
00011  *   * Redistributions of source code must retain the above copyright
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00034 
00035 /*
00036  * Author: Enrique Fernández
00037  */
00038 
00039 #ifndef SPEED_LIMITER_H
00040 #define SPEED_LIMITER_H
00041 
00042 namespace diff_drive_controller
00043 {
00044 
00045   class SpeedLimiter
00046   {
00047   public:
00048 
00058     SpeedLimiter(
00059       bool has_velocity_limits = false,
00060       bool has_acceleration_limits = false,
00061       double min_velocity = 0.0,
00062       double max_velocity = 0.0,
00063       double min_acceleration = 0.0,
00064       double max_acceleration = 0.0
00065     );
00066 
00073     void limit(double& v, double v0, double dt);
00074 
00079     void limit_velocity(double& v);
00080 
00087     void limit_acceleration(double& v, double v0, double dt);
00088 
00089   public:
00090     // Enable/Disable velocity/acceleration limits:
00091     bool has_velocity_limits;
00092     bool has_acceleration_limits;
00093 
00094     // Velocity limits:
00095     double min_velocity;
00096     double max_velocity;
00097 
00098     // Acceleration limits:
00099     double min_acceleration;
00100     double max_acceleration;
00101   };
00102 
00103 } // namespace diff_drive_controller
00104 
00105 #endif // SPEED_LIMITER_H


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