SpeedLimiter Class Reference

Class to limit velocity, acceleration and jerk. More...

#include <SpeedLimiter.hh>

Public Member Functions
	SpeedLimiter ()
	Constructor. There are no limits by default. More...
	~SpeedLimiter ()
	Destructor. More...
double	Limit (double &_vel, double _prevVel, double _prevPrevVel, std::chrono::steady_clock::duration _dt) const
	Limit velocity, acceleration and jerk. More...
double	LimitAcceleration (double &_vel, double _prevVel, std::chrono::steady_clock::duration _dt) const
	Limit the acceleration using a first-order backward difference method. More...
double	LimitJerk (double &_vel, double _prevVel, double _prevPrevVel, std::chrono::steady_clock::duration _dt) const
	Limit the jerk using a second-order backward difference method. More...
double	LimitVelocity (double &_vel) const
	Limit the velocity. More...
double	MaxAcceleration () const
	Get maximum acceleration limit, defaults to positive infinity. More...
double	MaxJerk () const
	Get maximum jerk limit, defaults to positive infinity. More...
double	MaxVelocity () const
	Get maximum velocity limit, defaults to positive infinity. More...
double	MinAcceleration () const
	Get minimum acceleration limit, defaults to negative infinity. More...
double	MinJerk () const
	Get minimum jerk limit, defaults to negative infinity. More...
double	MinVelocity () const
	Get minimum velocity limit, defaults to negative infinity. More...
void	SetMaxAcceleration (double _lim)
	Set maximum acceleration limit in m/s^2, usually >= 0. More...
void	SetMaxJerk (double _lim)
	Set maximum jerk limit in m/s^3, usually >= 0. More...
void	SetMaxVelocity (double _lim)
	Set maximum velocity limit in m/s, usually >= 0. More...
void	SetMinAcceleration (double _lim)
	Set minimum acceleration limit in m/s^2, usually <= 0. More...
void	SetMinJerk (double _lim)
	Set minimum jerk limit in m/s^3, usually <= 0. More...
void	SetMinVelocity (double _lim)
	Set minimum velocity limit in m/s, usually <= 0. More...

Detailed Description

Class to limit velocity, acceleration and jerk.

Constructor & Destructor Documentation

SpeedLimiter()

SpeedLimiter

(

)

Constructor. There are no limits by default.

~SpeedLimiter()

~SpeedLimiter

(

)

Destructor.

Member Function Documentation

Limit()

double Limit	(	double &	_vel,
		double	_prevVel,
		double	_prevPrevVel,
		std::chrono::steady_clock::duration	_dt
	)		const

Limit velocity, acceleration and jerk.

Parameters

[in,out]	_vel	Velocity to limit [m/s].
[in]	_prevVel	Previous velocity to _vel [m/s].
[in]	_prevPrevVel	Previous velocity to _prevVel [m/s].
[in]	_dt	Time step.

Returns

Limiting difference, which is (out _vel - in _vel).

LimitAcceleration()

double LimitAcceleration	(	double &	_vel,
		double	_prevVel,
		std::chrono::steady_clock::duration	_dt
	)		const

Limit the acceleration using a first-order backward difference method.

Parameters

[in,out]	_vel	Velocity [m/s].
[in]	_prevVel	Previous velocity [m/s].
[in]	_dt	Time step.

Returns

Limiting difference, which is (out _vel - in _vel).

LimitJerk()

double LimitJerk	(	double &	_vel,
		double	_prevVel,
		double	_prevPrevVel,
		std::chrono::steady_clock::duration	_dt
	)		const

Limit the jerk using a second-order backward difference method.

Parameters

[in,out]	_vel	Velocity to limit [m/s].
[in]	_prevVel	Previous velocity to v [m/s].
[in]	_prevPrevVel	Previous velocity to prevVel [m/s].
[in]	_dt	Time step.

Returns

Limiting difference, which is (out _vel - in _vel).

See also

http://en.wikipedia.org/wiki/Jerk_%28physics%29#Motion_control.

LimitVelocity()

double LimitVelocity

(

double &

_vel

)

const

Limit the velocity.

Parameters

[in,out]

_vel

Velocity to limit [m/s].

Returns

Limiting difference, which is (out _vel - in _vel).

MaxAcceleration()

double MaxAcceleration

(

)

const

Get maximum acceleration limit, defaults to positive infinity.

Returns

Maximum acceleration.

MaxJerk()

double MaxJerk

(

)

const

Get maximum jerk limit, defaults to positive infinity.

Returns

Maximum jerk.

MaxVelocity()

double MaxVelocity

(

)

const

Get maximum velocity limit, defaults to positive infinity.

Returns

Maximum velocity.

MinAcceleration()

double MinAcceleration

(

)

const

Get minimum acceleration limit, defaults to negative infinity.

Returns

Minimum acceleration.

MinJerk()

double MinJerk

(

)

const

Get minimum jerk limit, defaults to negative infinity.

Returns

Minimum jerk.

MinVelocity()

double MinVelocity

(

)

const

Get minimum velocity limit, defaults to negative infinity.

Returns

Minimum velocity.

SetMaxAcceleration()

void SetMaxAcceleration

(

double

_lim

)

Set maximum acceleration limit in m/s^2, usually >= 0.

Parameters

[in]

_lim

Maximum acceleration.

SetMaxJerk()

void SetMaxJerk

(

double

_lim

)

Set maximum jerk limit in m/s^3, usually >= 0.

Parameters

[in]

_lim

Maximum jerk.

SetMaxVelocity()

void SetMaxVelocity

(

double

_lim

)

Set maximum velocity limit in m/s, usually >= 0.

Parameters

[in]

_lim

Maximum velocity.

SetMinAcceleration()

void SetMinAcceleration

(

double

_lim

)

Set minimum acceleration limit in m/s^2, usually <= 0.

Parameters

[in]

_lim

Minimum acceleration.

SetMinJerk()

void SetMinJerk

(

double

_lim

)

Set minimum jerk limit in m/s^3, usually <= 0.

Parameters

[in]

_lim

Minimum jerk.

SetMinVelocity()

void SetMinVelocity

(

double

_lim

)

Set minimum velocity limit in m/s, usually <= 0.

Parameters

[in]

_lim

Minimum velocity.

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

• gz/math/SpeedLimiter.hh