gz/math/SpeedLimiter.hh

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/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * 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.
 *
*/
 
#ifndef GZ_MATH_SYSTEMS_SPEEDLIMITER_HH_
#define GZ_MATH_SYSTEMS_SPEEDLIMITER_HH_
 
#include <chrono>
#include <memory>
#include <gz/math/config.hh>
#include "gz/math/Helpers.hh"
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  // Forward declaration.
  class SpeedLimiterPrivate;
 
  class GZ_MATH_VISIBLE SpeedLimiter
  {
    public: SpeedLimiter();
 
    public: ~SpeedLimiter();
 
    public: void SetMinVelocity(double _lim);
 
    public: double MinVelocity() const;
 
    public: void SetMaxVelocity(double _lim);
 
    public: double MaxVelocity() const;
 
    public: void SetMinAcceleration(double _lim);
 
    public: double MinAcceleration() const;
 
    public: void SetMaxAcceleration(double _lim);
 
    public: double MaxAcceleration() const;
 
    public: void SetMinJerk(double _lim);
 
    public: double MinJerk() const;
 
    public: void SetMaxJerk(double _lim);
 
    public: double MaxJerk() const;
 
    public: double Limit(double &_vel,
                         double _prevVel,
                         double _prevPrevVel,
                         std::chrono::steady_clock::duration _dt) const;
 
    public: double LimitVelocity(double &_vel) const;
 
    public: double LimitAcceleration(
        double &_vel,
        double _prevVel,
        std::chrono::steady_clock::duration _dt) const;
 
    public: double LimitJerk(
        double &_vel,
        double _prevVel,
        double _prevPrevVel,
        std::chrono::steady_clock::duration _dt) const;
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
    private: std::unique_ptr<SpeedLimiterPrivate> dataPtr;
#ifdef _WIN32
#pragma warning(pop)
#endif
  };
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#endif  // GZ_MATH_SYSTEMS_SPEEDLIMITER_HH_