tricycle_controller::TractionLimiter Class Reference

Public Member Functions
	TractionLimiter (double min_velocity=NAN, double max_velocity=NAN, double min_acceleration=NAN, double max_acceleration=NAN, double min_deceleration=NAN, double max_deceleration=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

TractionLimiter()

tricycle_controller::TractionLimiter::TractionLimiter	(	double	min_velocity = NAN,
		double	max_velocity = NAN,
		double	min_acceleration = NAN,
		double	max_acceleration = NAN,
		double	min_deceleration = NAN,
		double	max_deceleration = NAN,
		double	min_jerk = NAN,
		double	max_jerk = NAN
	)

Constructor.

Parameters are applied symmetrically for both directions, i.e., are applied to the absolute value of the corresponding quantity.

Warning

• Setting min_velocity: the robot can't stand still
• Setting min_deceleration/min_acceleration: the robot can't move with constant velocity
• Setting min_jerk: the robot can't move with constant acceleration

Parameters

[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]
[in]	min_deceleration	Minimum deceleration [m/s^2] or [rad/s^2]
[in]	max_deceleration	Maximum deceleration [m/s^2] or [rad/s^2]
[in]	min_jerk	Minimum jerk [m/s^3]
[in]	max_jerk	Maximum jerk [m/s^3]

Member Function Documentation

limit()

double tricycle_controller::TractionLimiter::limit	(	double &	v,
		double	v0,
		double	v1,
		double	dt
	)

Limit the velocity and acceleration.

Parameters

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

Returns

Limiting factor (1.0 if none)

limit_acceleration()

double tricycle_controller::TractionLimiter::limit_acceleration	(	double &	v,
		double	v0,
		double	dt
	)

Limit the acceleration.

Parameters

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

Returns

Limiting factor (1.0 if none)

limit_jerk()

double tricycle_controller::TractionLimiter::limit_jerk	(	double &	v,
		double	v0,
		double	v1,
		double	dt
	)

Limit the jerk.

Parameters

[in,out]	v	Velocity [m/s] or [rad/s]
[in]	v0	Previous velocity to v [m/s] or [rad/s]
[in]	v1	Previous velocity to v0 [m/s] or [rad/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 tricycle_controller::TractionLimiter::limit_velocity

(

double &

v

)

Limit the velocity.

Parameters

[in,out]

v

Velocity [m/s] or [rad/s]

Returns

Limiting factor (1.0 if none)

---

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

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