diff_drive_controller::SpeedLimiter Class Reference

Public Member Functions
	SpeedLimiter (bool has_velocity_limits=false, bool has_acceleration_limits=false, bool has_jerk_limits=false, double min_velocity=NAN, double max_velocity=NAN, double min_acceleration=NAN, double max_acceleration=NAN, double min_jerk=NAN, double max_jerk=NAN)
	Constructor. More...
double	limit (double &v, double v0, double v1, double dt)
	Limit the velocity and acceleration. More...
double	limit_velocity (double &v)
	Limit the velocity. More...
double	limit_acceleration (double &v, double v0, double dt)
	Limit the acceleration. More...
double	limit_jerk (double &v, double v0, double v1, double dt)
	Limit the jerk. More...

Constructor & Destructor Documentation

SpeedLimiter()

diff_drive_controller::SpeedLimiter::SpeedLimiter	(	bool	has_velocity_limits = false,
		bool	has_acceleration_limits = false,
		bool	has_jerk_limits = false,
		double	min_velocity = NAN,
		double	max_velocity = NAN,
		double	min_acceleration = NAN,
		double	max_acceleration = NAN,
		double	min_jerk = NAN,
		double	max_jerk = NAN
	)

Constructor.

Parameters

[in]	has_velocity_limits	if true, applies velocity limits
[in]	has_acceleration_limits	if true, applies acceleration limits
[in]	has_jerk_limits	if true, applies jerk limits
[in]	min_velocity	Minimum velocity [m/s], usually <= 0
[in]	max_velocity	Maximum velocity [m/s], usually >= 0
[in]	min_acceleration	Minimum acceleration [m/s^2], usually <= 0
[in]	max_acceleration	Maximum acceleration [m/s^2], usually >= 0
[in]	min_jerk	Minimum jerk [m/s^3], usually <= 0
[in]	max_jerk	Maximum jerk [m/s^3], usually >= 0

Member Function Documentation

limit()

double diff_drive_controller::SpeedLimiter::limit	(	double &	v,
		double	v0,
		double	v1,
		double	dt
	)

Limit the velocity and acceleration.

Parameters

[in,out]	v	Velocity [m/s]
[in]	v0	Previous velocity to v [m/s]
[in]	v1	Previous velocity to v0 [m/s]
[in]	dt	Time step [s]

Returns

Limiting factor (1.0 if none)

limit_acceleration()

double diff_drive_controller::SpeedLimiter::limit_acceleration	(	double &	v,
		double	v0,
		double	dt
	)

Limit the acceleration.

Parameters

[in,out]	v	Velocity [m/s]
[in]	v0	Previous velocity [m/s]
[in]	dt	Time step [s]

Returns

Limiting factor (1.0 if none)

limit_jerk()

double diff_drive_controller::SpeedLimiter::limit_jerk	(	double &	v,
		double	v0,
		double	v1,
		double	dt
	)

Limit the jerk.

Parameters

[in,out]	v	Velocity [m/s]
[in]	v0	Previous velocity to v [m/s]
[in]	v1	Previous velocity to v0 [m/s]
[in]	dt	Time step [s]

Returns

Limiting factor (1.0 if none)

See also

http://en.wikipedia.org/wiki/Jerk_%28physics%29#Motion_control

limit_velocity()

double diff_drive_controller::SpeedLimiter::limit_velocity

(

double &

v

)

Limit the velocity.

Parameters

[in,out]

v

Velocity [m/s]

Returns

Limiting factor (1.0 if none)

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The documentation for this class was generated from the following files:

• ros2_controllers/diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp
• ros2_controllers/diff_drive_controller/src/speed_limiter.cpp