speed_limiter.hpp

// Copyright 2020 PAL Robotics S.L.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*
 * Author: Enrique Fernández
 */
 
#ifndef DIFF_DRIVE_CONTROLLER__SPEED_LIMITER_HPP_
#define DIFF_DRIVE_CONTROLLER__SPEED_LIMITER_HPP_
 
#include <cmath>
 
namespace diff_drive_controller
{
class SpeedLimiter
{
public:
  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);
 
  double limit(double & v, double v0, double v1, double dt);
 
  double limit_velocity(double & v);
 
  double limit_acceleration(double & v, double v0, double dt);
 
  double limit_jerk(double & v, double v0, double v1, double dt);
 
private:
  // Enable/Disable velocity/acceleration/jerk limits:
  bool has_velocity_limits_;
  bool has_acceleration_limits_;
  bool has_jerk_limits_;
 
  // Velocity limits:
  double min_velocity_;
  double max_velocity_;
 
  // Acceleration limits:
  double min_acceleration_;
  double max_acceleration_;
 
  // Jerk limits:
  double min_jerk_;
  double max_jerk_;
};
 
}  // namespace diff_drive_controller
 
#endif  // DIFF_DRIVE_CONTROLLER__SPEED_LIMITER_HPP_