Gazebo Math

API Reference

7.4.0
gz/math/SpeedLimiter.hh
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1/*
2 * Copyright (C) 2021 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef GZ_MATH_SYSTEMS_SPEEDLIMITER_HH_
19#define GZ_MATH_SYSTEMS_SPEEDLIMITER_HH_
20
21#include <chrono>
22#include <memory>
23#include <gz/math/config.hh>
24#include "gz/math/Helpers.hh"
25
26namespace gz
27{
28namespace math
29{
30// Inline bracket to help doxygen filtering.
31inline namespace GZ_MATH_VERSION_NAMESPACE {
32 // Forward declaration.
33 class SpeedLimiterPrivate;
34
36 class GZ_MATH_VISIBLE SpeedLimiter
37 {
40 public: SpeedLimiter();
41
43 public: ~SpeedLimiter();
44
47 public: void SetMinVelocity(double _lim);
48
51 public: double MinVelocity() const;
52
55 public: void SetMaxVelocity(double _lim);
56
59 public: double MaxVelocity() const;
60
63 public: void SetMinAcceleration(double _lim);
64
67 public: double MinAcceleration() const;
68
71 public: void SetMaxAcceleration(double _lim);
72
75 public: double MaxAcceleration() const;
76
79 public: void SetMinJerk(double _lim);
80
83 public: double MinJerk() const;
84
87 public: void SetMaxJerk(double _lim);
88
91 public: double MaxJerk() const;
92
99 public: double Limit(double &_vel,
100 double _prevVel,
101 double _prevPrevVel,
102 std::chrono::steady_clock::duration _dt) const;
103
107 public: double LimitVelocity(double &_vel) const;
108
115 public: double LimitAcceleration(
116 double &_vel,
117 double _prevVel,
118 std::chrono::steady_clock::duration _dt) const;
119
127 public: double LimitJerk(
128 double &_vel,
129 double _prevVel,
130 double _prevPrevVel,
131 std::chrono::steady_clock::duration _dt) const;
132
133#ifdef _WIN32
134// Disable warning C4251 which is triggered by
135// std::unique_ptr
136#pragma warning(push)
137#pragma warning(disable: 4251)
138#endif
141#ifdef _WIN32
142#pragma warning(pop)
143#endif
144 };
145 }
146}
147}
148
149#endif