limited_accel_generator.cpp

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#include <dwb_plugins/limited_accel_generator.h>
#include <nav_2d_utils/parameters.h>
#include <pluginlib/class_list_macros.h>
#include <nav_core2/exceptions.h>
#include <vector>

namespace dwb_plugins
{

void LimitedAccelGenerator::initialize(ros::NodeHandle& nh)
{
  StandardTrajectoryGenerator::initialize(nh);
  if (nh.hasParam("sim_period"))
  {
    nh.getParam("sim_period", acceleration_time_);
  }
  else
  {
    double controller_frequency = nav_2d_utils::searchAndGetParam(nh, "controller_frequency", 20.0);
    if (controller_frequency > 0)
    {
      acceleration_time_ = 1.0 / controller_frequency;
    }
    else
    {
      ROS_WARN_NAMED("LimitedAccelGenerator", "A controller_frequency less than or equal to 0 has been set. "
                                              "Ignoring the parameter, assuming a rate of 20Hz");
      acceleration_time_ = 0.05;
    }
  }
}

void LimitedAccelGenerator::checkUseDwaParam(const ros::NodeHandle& nh)
{
  bool use_dwa;
  nh.param("use_dwa", use_dwa, true);
  if (!use_dwa)
  {
    throw nav_core2::PlannerException("Deprecated parameter use_dwa set to false. "
                                      "Please use StandardTrajectoryGenerator for that functionality.");
  }
}

void LimitedAccelGenerator::startNewIteration(const nav_2d_msgs::Twist2D& current_velocity)
{
  // Limit our search space to just those within the limited acceleration_time
  velocity_iterator_->startNewIteration(current_velocity, acceleration_time_);
}

nav_2d_msgs::Twist2D LimitedAccelGenerator::computeNewVelocity(const nav_2d_msgs::Twist2D& cmd_vel,
    const nav_2d_msgs::Twist2D& start_vel, const double dt)
{
  return cmd_vel;
}

}  // namespace dwb_plugins

PLUGINLIB_EXPORT_CLASS(dwb_plugins::LimitedAccelGenerator, dwb_local_planner::TrajectoryGenerator)