limited_accel_generator.h

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#ifndef DWB_PLUGINS_LIMITED_ACCEL_GENERATOR_H
#define DWB_PLUGINS_LIMITED_ACCEL_GENERATOR_H

#include <dwb_plugins/standard_traj_generator.h>

namespace dwb_plugins
{
class LimitedAccelGenerator : public StandardTrajectoryGenerator
{
public:
  void initialize(ros::NodeHandle& nh) override;
  void checkUseDwaParam(const ros::NodeHandle& nh) override;
  void startNewIteration(const nav_2d_msgs::Twist2D& current_velocity) override;
protected:
  nav_2d_msgs::Twist2D computeNewVelocity(const nav_2d_msgs::Twist2D& cmd_vel, const nav_2d_msgs::Twist2D& start_vel,
                                          const double dt) override;
  double acceleration_time_;
};
}  // namespace dwb_plugins

#endif  // DWB_PLUGINS_LIMITED_ACCEL_GENERATOR_H