speed_limiter.h
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34 
35 /*
36  * Author: Enrique Fernández
37  */
38 
39 #ifndef SPEED_LIMITER_H
40 #define SPEED_LIMITER_H
41 
42 namespace diff_drive_controller
43 {
44 
46  {
47  public:
48 
62  bool has_velocity_limits = false,
63  bool has_acceleration_limits = false,
64  bool has_jerk_limits = false,
65  double min_velocity = 0.0,
66  double max_velocity = 0.0,
67  double min_acceleration = 0.0,
68  double max_acceleration = 0.0,
69  double min_jerk = 0.0,
70  double max_jerk = 0.0
71  );
72 
81  double limit(double& v, double v0, double v1, double dt);
82 
88  double limit_velocity(double& v);
89 
97  double limit_acceleration(double& v, double v0, double dt);
98 
108  double limit_jerk(double& v, double v0, double v1, double dt);
109 
110  public:
111  // Enable/Disable velocity/acceleration/jerk limits:
115 
116  // Velocity limits:
117  double min_velocity;
118  double max_velocity;
119 
120  // Acceleration limits:
123 
124  // Jerk limits:
125  double min_jerk;
126  double max_jerk;
127  };
128 
129 } // namespace diff_drive_controller
130 
131 #endif // SPEED_LIMITER_H
SpeedLimiter(bool has_velocity_limits=false, bool has_acceleration_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_jerk=0.0, double max_jerk=0.0)
Constructor.
double limit_acceleration(double &v, double v0, double dt)
Limit the acceleration.
double limit_velocity(double &v)
Limit the velocity.
double limit_jerk(double &v, double v0, double v1, double dt)
Limit the jerk.
double limit(double &v, double v0, double v1, double dt)
Limit the velocity and acceleration.


diff_drive_controller
Author(s): Bence Magyar
autogenerated on Sat Apr 18 2020 03:58:05