speed_limiter.cpp
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34 
35 /*
36  * Author: Enrique Fern├índez
37  */
38 
39 #include <algorithm>
40 
42 
44 {
45 
47  bool has_velocity_limits,
48  bool has_acceleration_limits,
49  bool has_jerk_limits,
50  double min_velocity,
51  double max_velocity,
52  double min_acceleration,
53  double max_acceleration,
54  double min_jerk,
55  double max_jerk
56  )
57  : has_velocity_limits(has_velocity_limits)
58  , has_acceleration_limits(has_acceleration_limits)
59  , has_jerk_limits(has_jerk_limits)
60  , min_velocity(min_velocity)
61  , max_velocity(max_velocity)
62  , min_acceleration(min_acceleration)
63  , max_acceleration(max_acceleration)
64  , min_jerk(min_jerk)
65  , max_jerk(max_jerk)
66  {
67  }
68 
69  double SpeedLimiter::limit(double& v, double v0, double v1, double dt)
70  {
71  const double tmp = v;
72 
73  limit_jerk(v, v0, v1, dt);
74  limit_acceleration(v, v0, dt);
75  limit_velocity(v);
76 
77  return tmp != 0.0 ? v / tmp : 1.0;
78  }
79 
80  double SpeedLimiter::limit_velocity(double& v)
81  {
82  const double tmp = v;
83 
85  {
87  }
88 
89  return tmp != 0.0 ? v / tmp : 1.0;
90  }
91 
92  double SpeedLimiter::limit_acceleration(double& v, double v0, double dt)
93  {
94  const double tmp = v;
95 
97  {
98  const double dv_min = min_acceleration * dt;
99  const double dv_max = max_acceleration * dt;
100 
101  const double dv = clamp(v - v0, dv_min, dv_max);
102 
103  v = v0 + dv;
104  }
105 
106  return tmp != 0.0 ? v / tmp : 1.0;
107  }
108 
109  double SpeedLimiter::limit_jerk(double& v, double v0, double v1, double dt)
110  {
111  const double tmp = v;
112 
113  if (has_jerk_limits)
114  {
115  const double dv = v - v0;
116  const double dv0 = v0 - v1;
117 
118  const double dt2 = 2. * dt * dt;
119 
120  const double da_min = min_jerk * dt2;
121  const double da_max = max_jerk * dt2;
122 
123  const double da = clamp(dv - dv0, da_min, da_max);
124 
125  v = v0 + dv0 + da;
126  }
127 
128  return tmp != 0.0 ? v / tmp : 1.0;
129  }
130 
131 } // namespace four_wheel_steering_controller
double limit(double &v, double v0, double v1, double dt)
Limit the velocity and acceleration.
SpeedLimiter(bool has_velocity_limits=false, bool has_acceleration_limits=false, bool has_jerk_limits=false, double min_velocity=0.0, double max_velocity=0.0, double min_acceleration=0.0, double max_acceleration=0.0, double min_jerk=0.0, double max_jerk=0.0)
Constructor.
double limit_velocity(double &v)
Limit the velocity.
double limit_acceleration(double &v, double v0, double dt)
Limit the acceleration.
double limit_jerk(double &v, double v0, double v1, double dt)
Limit the jerk.
T clamp(T x, T min, T max)
Definition: speed_limiter.h:46


four_wheel_steering_controller
Author(s): Vincent Rousseau
autogenerated on Thu Apr 11 2019 03:08:25