kobuki::AccelerationLimiter Class Reference

An acceleration limiter for the kobuki. More...

#include <acceleration_limiter.hpp>

Public Member Functions
	AccelerationLimiter ()
void	init (bool enable_acceleration_limiter, double linear_acceleration_max_=0.5, double angular_acceleration_max_=3.5, double linear_deceleration_max_=-0.5 *1.2, double angular_deceleration_max_=-3.5 *1.2)
bool	isEnabled () const
std::vector< double >	limit (const std::vector< double > &command)
	Limits the input velocity commands if gatekeeper is enabled. More...
std::vector< double >	limit (const double &vx, const double &wz)

Private Attributes
double	angular_acceleration_max
double	angular_deceleration_max
double	command_vx
double	command_wz
bool	is_enabled
short	last_radius
short	last_speed
ecl::TimeStamp	last_timestamp
double	last_vx
double	last_wz
double	linear_acceleration_max
double	linear_deceleration_max

Detailed Description

An acceleration limiter for the kobuki.

This class will check incoming velocity commands and limit them if the change since the last incoming command is great.

Right now, this hasn't got any configurable parameters for the user - that might be an option to provide for users in the future. Ideally

• User can disable this and do their own velocity smoothing outside.
• User can enable this with defaults (fairly high accelerations)
• (Later) User can enable this reconfigure a parameter to suit.

Definition at line 50 of file acceleration_limiter.hpp.

Constructor & Destructor Documentation

kobuki::AccelerationLimiter::AccelerationLimiter ( )

inline

Definition at line 52 of file acceleration_limiter.hpp.

Member Function Documentation

void kobuki::AccelerationLimiter::init ( bool  enable_acceleration_limiter, double  linear_acceleration_max_ = 0.5, double  angular_acceleration_max_ = 3.5, double  linear_deceleration_max_ = -0.5*1.2, double  angular_deceleration_max_ = -3.5*1.2  )

inline

Definition at line 63 of file acceleration_limiter.hpp.

bool kobuki::AccelerationLimiter::isEnabled ( ) const

inline

Definition at line 74 of file acceleration_limiter.hpp.

std::vector<double> kobuki::AccelerationLimiter::limit ( const std::vector< double > &  command )

inline

Limits the input velocity commands if gatekeeper is enabled.

What is the limit?

Parameters

command

: translation and angular velocity components in a 2-dim vector.

Definition at line 83 of file acceleration_limiter.hpp.

std::vector<double> kobuki::AccelerationLimiter::limit ( const double &  vx, const double &  wz  )

inline

Definition at line 85 of file acceleration_limiter.hpp.

Member Data Documentation

double kobuki::AccelerationLimiter::angular_acceleration_max

private

Definition at line 143 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::angular_deceleration_max

private

Definition at line 143 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::command_vx

private

Definition at line 141 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::command_wz

private

Definition at line 141 of file acceleration_limiter.hpp.

bool kobuki::AccelerationLimiter::is_enabled

private

Definition at line 134 of file acceleration_limiter.hpp.

short kobuki::AccelerationLimiter::last_radius

private

Definition at line 136 of file acceleration_limiter.hpp.

short kobuki::AccelerationLimiter::last_speed

private

Definition at line 135 of file acceleration_limiter.hpp.

ecl::TimeStamp kobuki::AccelerationLimiter::last_timestamp

private

Definition at line 138 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::last_vx

private

Definition at line 140 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::last_wz

private

Definition at line 140 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::linear_acceleration_max

private

Definition at line 142 of file acceleration_limiter.hpp.

double kobuki::AccelerationLimiter::linear_deceleration_max

private

Definition at line 142 of file acceleration_limiter.hpp.

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The documentation for this class was generated from the following file:

• acceleration_limiter.hpp