local_planner_limits.h

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#ifndef __base_local_planner__LOCALPLANNERLIMITS_H__
#define __base_local_planner__LOCALPLANNERLIMITS_H__

#include <Eigen/Core>

namespace base_local_planner
{
class LocalPlannerLimits
{
public:

  double max_trans_vel;
  double min_trans_vel;
  double max_vel_x;
  double min_vel_x;
  double max_vel_y;
  double min_vel_y;
  double max_rot_vel;
  double min_rot_vel;
  double acc_lim_x;
  double acc_lim_y;
  double acc_lim_theta;
  double acc_limit_trans;
//  double jerk_lim_trans;
//  double jerk_lim_rot;
  bool   prune_plan;
  double xy_goal_tolerance;
  double yaw_goal_tolerance;
  double trans_stopped_vel;
  double rot_stopped_vel;
  bool   restore_defaults;

  LocalPlannerLimits() {}

  LocalPlannerLimits(
      double nmax_trans_vel,
      double nmin_trans_vel,
      double nmax_vel_x,
      double nmin_vel_x,
      double nmax_vel_y,
      double nmin_vel_y,
      double nmax_rot_vel,
      double nmin_rot_vel,
      double nacc_lim_x,
      double nacc_lim_y,
      double nacc_lim_theta,
      double nacc_limit_trans,
      double nxy_goal_tolerance,
      double nyaw_goal_tolerance,
//      double njerk_lim_trans = -1,
//      double njerk_lim_rot = -1,
      bool   nprune_plan = true,
      double ntrans_stopped_vel = 0.1,
      double nrot_stopped_vel = 0.1):
        max_trans_vel(nmax_trans_vel),
        min_trans_vel(nmin_trans_vel),
        max_vel_x(nmax_vel_x),
        min_vel_x(nmin_vel_x),
        max_vel_y(nmax_vel_y),
        min_vel_y(nmin_vel_y),
        max_rot_vel(nmax_rot_vel),
        min_rot_vel(nmin_rot_vel),
        acc_lim_x(nacc_lim_x),
        acc_lim_y(nacc_lim_y),
        acc_lim_theta(nacc_lim_theta),
        acc_limit_trans(nacc_limit_trans),
//        jerk_lim_trans(njerk_lim_trans),
//        jerk_lim_rot(njerk_lim_rot),
        prune_plan(nprune_plan),
        xy_goal_tolerance(nxy_goal_tolerance),
        yaw_goal_tolerance(nyaw_goal_tolerance),
        trans_stopped_vel(ntrans_stopped_vel),
        rot_stopped_vel(nrot_stopped_vel) {}

  ~LocalPlannerLimits() {}

  Eigen::Vector3f getAccLimits() {
    Eigen::Vector3f acc_limits;
    acc_limits[0] = acc_lim_x;
    acc_limits[1] = acc_lim_y;
    acc_limits[2] = acc_lim_theta;
    return acc_limits;
  }

};

}
#endif // __LOCALPLANNERLIMITS_H__