speed_limiter.h
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34 
35 /*
36  * Author: Enrique Fern├índez
37  */
38 
39 #ifndef SPEED_LIMITER_H
40 #define SPEED_LIMITER_H
41 
43 {
44 
45  template<typename T>
46  T clamp(T x, T min, T max)
47  {
48  return std::min(std::max(min, x), max);
49  }
50 
52  {
53  public:
54 
68  bool has_velocity_limits = false,
69  bool has_acceleration_limits = false,
70  bool has_jerk_limits = false,
71  double min_velocity = 0.0,
72  double max_velocity = 0.0,
73  double min_acceleration = 0.0,
74  double max_acceleration = 0.0,
75  double min_jerk = 0.0,
76  double max_jerk = 0.0
77  );
78 
87  double limit(double& v, double v0, double v1, double dt);
88 
94  double limit_velocity(double& v);
95 
103  double limit_acceleration(double& v, double v0, double dt);
104 
114  double limit_jerk(double& v, double v0, double v1, double dt);
115 
116  public:
117  // Enable/Disable velocity/acceleration/jerk limits:
121 
122  // Velocity limits:
123  double min_velocity;
124  double max_velocity;
125 
126  // Acceleration limits:
129 
130  // Jerk limits:
131  double min_jerk;
132  double max_jerk;
133  };
134 
135 } // namespace four_wheel_steering_controller
136 
137 #endif // SPEED_LIMITER_H
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