kobuki::AccelerationLimiter Class Reference

An acceleration limiter for the kobuki. More...

#include <acceleration_limiter.hpp>

Public Member Functions
void	init (bool enable_acceleration_limiter, double linear_acceleration_max_=0.5, double angular_acceleration_max_=3.5, double linear_deceleration_max_=-0.5 *1.2, double angular_deceleration_max_=-3.5 *1.2)
bool	isEnabled () const
std::vector< double >	limit (const std::vector< double > &command)
	Limits the input velocity commands if gatekeeper is enabled.
std::vector< double >	limit (const double &vx, const double &wz)

Detailed Description

An acceleration limiter for the kobuki.

This class will check incoming velocity commands and limit them if the change since the last incoming command is great.

Right now, this hasn't got any configurable parameters for the user - that might be an option to provide for users in the future. Ideally

• User can disable this and do their own velocity smoothing outside.
• User can enable this with defaults (fairly high accelerations)
• (Later) User can enable this reconfigure a parameter to suit.

Member Function Documentation

limit()

std::vector< double > kobuki::AccelerationLimiter::limit ( const std::vector< double > &  command )

inline

Limits the input velocity commands if gatekeeper is enabled.

What is the limit?

Parameters

command

: translation and angular velocity components in a 2-dim vector.

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

• /github/workspace/include/kobuki_core/modules/acceleration_limiter.hpp