diff_drive_controller::SpeedLimiter Class Reference

Public Member Functions
	SpeedLimiter (bool has_velocity_limits=true, bool has_acceleration_limits=true, bool has_jerk_limits=true, double min_velocity=std::numeric_limits< double >::quiet_NaN(), double max_velocity=std::numeric_limits< double >::quiet_NaN(), double max_deceleration=std::numeric_limits< double >::quiet_NaN(), double max_acceleration=std::numeric_limits< double >::quiet_NaN(), double min_jerk=std::numeric_limits< double >::quiet_NaN(), double max_jerk=std::numeric_limits< double >::quiet_NaN())
	Constructor. More...
	SpeedLimiter (double min_velocity=std::numeric_limits< double >::quiet_NaN(), double max_velocity=std::numeric_limits< double >::quiet_NaN(), double max_acceleration_reverse=std::numeric_limits< double >::quiet_NaN(), double max_acceleration=std::numeric_limits< double >::quiet_NaN(), double max_deceleration=std::numeric_limits< double >::quiet_NaN(), double max_deceleration_reverse=std::numeric_limits< double >::quiet_NaN(), double min_jerk=std::numeric_limits< double >::quiet_NaN(), double max_jerk=std::numeric_limits< double >::quiet_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() [1/2]

diff_drive_controller::SpeedLimiter::SpeedLimiter ( bool  has_velocity_limits = true, bool  has_acceleration_limits = true, bool  has_jerk_limits = true, double  min_velocity = std::numeric_limits<double>::quiet_NaN(), double  max_velocity = std::numeric_limits<double>::quiet_NaN(), double  max_deceleration = std::numeric_limits<double>::quiet_NaN(), double  max_acceleration = std::numeric_limits<double>::quiet_NaN(), double  min_jerk = std::numeric_limits<double>::quiet_NaN(), double  max_jerk = std::numeric_limits<double>::quiet_NaN()  )

inline

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]	max_deceleration	Maximum deceleration [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

SpeedLimiter() [2/2]

diff_drive_controller::SpeedLimiter::SpeedLimiter ( double  min_velocity = std::numeric_limits<double>::quiet_NaN(), double  max_velocity = std::numeric_limits<double>::quiet_NaN(), double  max_acceleration_reverse = std::numeric_limits<double>::quiet_NaN(), double  max_acceleration = std::numeric_limits<double>::quiet_NaN(), double  max_deceleration = std::numeric_limits<double>::quiet_NaN(), double  max_deceleration_reverse = std::numeric_limits<double>::quiet_NaN(), double  min_jerk = std::numeric_limits<double>::quiet_NaN(), double  max_jerk = std::numeric_limits<double>::quiet_NaN()  )

inline

Constructor.

Parameters

[in]	min_velocity	Minimum velocity [m/s], usually <= 0
[in]	max_velocity	Maximum velocity [m/s], usually >= 0
[in]	max_acceleration_reverse	Maximum acceleration in reverse direction [m/s^2], usually <= 0
[in]	max_acceleration	Maximum acceleration [m/s^2], usually >= 0
[in]	max_deceleration	Maximum deceleration [m/s^2], usually <= 0
[in]	max_deceleration_reverse	Maximum deceleration in reverse direction [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  )

inline

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  )

inline

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  )

inline

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 )

inline

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 file:

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