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 <limits>
 
#include "control_toolbox/rate_limiter.hpp"
 
namespace diff_drive_controller
{
class SpeedLimiter
{
public:
  explicit SpeedLimiter(
    double min_velocity, double max_velocity, double max_acceleration_reverse,
    double max_acceleration, double max_deceleration, double max_deceleration_reverse,
    double min_jerk, double max_jerk)
  {
    speed_limiter_ = control_toolbox::RateLimiter<double>(
      min_velocity, max_velocity, max_acceleration_reverse, max_acceleration, max_deceleration,
      max_deceleration_reverse, min_jerk, max_jerk);
  }
  void set_params(
    double min_velocity, double max_velocity, double max_acceleration_reverse,
    double max_acceleration, double max_deceleration, double max_deceleration_reverse,
    double min_jerk, double max_jerk)
  {
    speed_limiter_.set_params(
      min_velocity, max_velocity, max_acceleration_reverse, max_acceleration, max_deceleration,
      max_deceleration_reverse, min_jerk, max_jerk);
  }
  double limit(double & v, double v0, double v1, double dt)
  {
    return speed_limiter_.limit(v, v0, v1, dt);
  }
 
  double limit_velocity(double & v) { return speed_limiter_.limit_value(v); }
 
  double limit_acceleration(double & v, double v0, double dt)
  {
    return speed_limiter_.limit_first_derivative(v, v0, dt);
  }
 
  double limit_jerk(double & v, double v0, double v1, double dt)
  {
    return speed_limiter_.limit_second_derivative(v, v0, v1, dt);
  }
 
private:
  control_toolbox::RateLimiter<double> speed_limiter_;  // Instance of the new RateLimiter
};
 
}  // namespace diff_drive_controller
 
#endif  // DIFF_DRIVE_CONTROLLER__SPEED_LIMITER_HPP_