local_planner_limits.h
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34 
35 
36 #ifndef __base_local_planner__LOCALPLANNERLIMITS_H__
37 #define __base_local_planner__LOCALPLANNERLIMITS_H__
38 
39 #include <Eigen/Core>
40 
41 namespace base_local_planner
42 {
44 {
45 public:
46 
47  double max_trans_vel;
48  double min_trans_vel;
49  double max_vel_x;
50  double min_vel_x;
51  double max_vel_y;
52  double min_vel_y;
53  double max_rot_vel;
54  double min_rot_vel;
55  double acc_lim_x;
56  double acc_lim_y;
57  double acc_lim_theta;
59 // double jerk_lim_trans;
60 // double jerk_lim_rot;
61  bool prune_plan;
67 
69 
71  double nmax_trans_vel,
72  double nmin_trans_vel,
73  double nmax_vel_x,
74  double nmin_vel_x,
75  double nmax_vel_y,
76  double nmin_vel_y,
77  double nmax_rot_vel,
78  double nmin_rot_vel,
79  double nacc_lim_x,
80  double nacc_lim_y,
81  double nacc_lim_theta,
82  double nacc_limit_trans,
83  double nxy_goal_tolerance,
84  double nyaw_goal_tolerance,
85 // double njerk_lim_trans = -1,
86 // double njerk_lim_rot = -1,
87  bool nprune_plan = true,
88  double ntrans_stopped_vel = 0.1,
89  double nrot_stopped_vel = 0.1):
90  max_trans_vel(nmax_trans_vel),
91  min_trans_vel(nmin_trans_vel),
92  max_vel_x(nmax_vel_x),
93  min_vel_x(nmin_vel_x),
94  max_vel_y(nmax_vel_y),
95  min_vel_y(nmin_vel_y),
96  max_rot_vel(nmax_rot_vel),
97  min_rot_vel(nmin_rot_vel),
98  acc_lim_x(nacc_lim_x),
99  acc_lim_y(nacc_lim_y),
100  acc_lim_theta(nacc_lim_theta),
101  acc_limit_trans(nacc_limit_trans),
102 // jerk_lim_trans(njerk_lim_trans),
103 // jerk_lim_rot(njerk_lim_rot),
104  prune_plan(nprune_plan),
105  xy_goal_tolerance(nxy_goal_tolerance),
106  yaw_goal_tolerance(nyaw_goal_tolerance),
107  trans_stopped_vel(ntrans_stopped_vel),
108  rot_stopped_vel(nrot_stopped_vel) {}
109 
111 
116  Eigen::Vector3f getAccLimits() {
117  Eigen::Vector3f acc_limits;
118  acc_limits[0] = acc_lim_x;
119  acc_limits[1] = acc_lim_y;
120  acc_limits[2] = acc_lim_theta;
121  return acc_limits;
122  }
123 
124 };
125 
126 }
127 #endif // __LOCALPLANNERLIMITS_H__
Eigen::Vector3f getAccLimits()
Get the acceleration limits of the robot.
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, bool nprune_plan=true, double ntrans_stopped_vel=0.1, double nrot_stopped_vel=0.1)


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:49