speed_limiter.h

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#ifndef SPEED_LIMITER_H
#define SPEED_LIMITER_H

namespace ackermann_controller
{

class SpeedLimiter
{
public:

    SpeedLimiter(
        bool has_velocity_limits = false,
        bool has_acceleration_limits = false,
        bool has_deceleration_limits = false,
        bool has_jerk_limits = false,
        double min_velocity = 0.0,
        double max_velocity = 0.0,
        double min_acceleration = 0.0,
        double max_acceleration = 0.0,
        double min_deceleration = 0.0,
        double max_deceleration = 0.0,
        double min_jerk = 0.0,
        double max_jerk = 0.0
    );

    double limit(double& v, double v0, double v1, double dt);

    double limit_velocity(double& v);

    double limit_acceleration(double& v, double v0, double dt);

    double limit_jerk(double& v, double v0, double v1, double dt);

public:
    // Enable/Disable velocity/acceleration/jerk limits:
    bool has_velocity_limits;
    bool has_acceleration_limits;
    bool has_deceleration_limits;
    bool has_jerk_limits;

    // Velocity limits:
    double min_velocity;
    double max_velocity;

    // Acceleration limits:
    double min_acceleration;
    double max_acceleration;
    double min_deceleration;
    double max_deceleration;

    // Jerk limits:
    double min_jerk;
    double max_jerk;
};

}

#endif // SPEED_LIMITER_H