tricycle_controller::SteeringLimiter Class Reference

Public Member Functions
	SteeringLimiter (double min_position=NAN, double max_position=NAN, double min_velocity=NAN, double max_velocity=NAN, double min_acceleration=NAN, double max_acceleration=NAN)
	Constructor. More...
double	limit (double &p, double p0, double p1, double dt)
	Limit the position, velocity and acceleration. More...
double	limit_position (double &p)
	Limit the jerk. More...
double	limit_velocity (double &p, double p0, double dt)
	Limit the velocity. More...
double	limit_acceleration (double &p, double p0, double p1, double dt)
	Limit the acceleration. More...

Constructor & Destructor Documentation

SteeringLimiter()

tricycle_controller::SteeringLimiter::SteeringLimiter	(	double	min_position = NAN,
		double	max_position = NAN,
		double	min_velocity = NAN,
		double	max_velocity = NAN,
		double	min_acceleration = NAN,
		double	max_acceleration = NAN
	)

Constructor.

Parameters

[in]	min_position	Minimum position [m] or [rad]
[in]	max_position	Maximum position [m] or [rad]
[in]	min_velocity	Minimum velocity [m/s] or [rad/s]
[in]	max_velocity	Maximum velocity [m/s] or [rad/s]
[in]	min_acceleration	Minimum acceleration [m/s^2] or [rad/s^2]
[in]	max_acceleration	Maximum acceleration [m/s^2] or [rad/s^2]

Member Function Documentation

limit()

double tricycle_controller::SteeringLimiter::limit	(	double &	p,
		double	p0,
		double	p1,
		double	dt
	)

Limit the position, velocity and acceleration.

Parameters

[in,out]	p	position [m] or [rad]
[in]	p0	Previous position to p [m] or [rad]
[in]	p1	Previous position to p0 [m] or [rad]
[in]	dt	Time step [s]

Returns

Limiting factor (1.0 if none)

limit_acceleration()

double tricycle_controller::SteeringLimiter::limit_acceleration	(	double &	p,
		double	p0,
		double	p1,
		double	dt
	)

Limit the acceleration.

Parameters

[in,out]	p	Position [m] or [rad]
[in]	p0	Previous position [m] or [rad]
[in]	dt	Time step [s]

Returns

Limiting factor (1.0 if none)

limit_position()

double tricycle_controller::SteeringLimiter::limit_position

(

double &

p

)

Limit the jerk.

Parameters

[in,out]	p	position [m] or [rad]
[in]	p0	Previous position to p [m] or [rad]
[in]	p1	Previous position to p0 [m] or [rad]
[in]	dt	Time step [s]

Returns

Limiting factor (1.0 if none)

limit_velocity()

double tricycle_controller::SteeringLimiter::limit_velocity	(	double &	p,
		double	p0,
		double	dt
	)

Limit the velocity.

Parameters

[in,out]

p

position [m]

Returns

Limiting factor (1.0 if none)

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

• ros2_controllers/tricycle_controller/include/tricycle_controller/steering_limiter.hpp
• ros2_controllers/tricycle_controller/src/steering_limiter.cpp