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include
gz
math
gz/math/SpeedLimiter.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2021 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_MATH_SYSTEMS_SPEEDLIMITER_HH_
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#define GZ_MATH_SYSTEMS_SPEEDLIMITER_HH_
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#include <chrono>
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#include <memory>
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#include <gz/math/config.hh>
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#include "
gz/math/Helpers.hh
"
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namespace
gz
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{
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namespace
math
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{
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// Inline bracket to help doxygen filtering.
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inline
namespace
GZ_MATH_VERSION_NAMESPACE {
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// Forward declaration.
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class
SpeedLimiterPrivate;
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class
GZ_MATH_VISIBLE
SpeedLimiter
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{
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public
:
SpeedLimiter
();
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public
:
~SpeedLimiter
();
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public
:
void
SetMinVelocity
(
double
_lim);
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public
:
double
MinVelocity
()
const
;
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public
:
void
SetMaxVelocity
(
double
_lim);
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public
:
double
MaxVelocity
()
const
;
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public
:
void
SetMinAcceleration
(
double
_lim);
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public
:
double
MinAcceleration
()
const
;
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public
:
void
SetMaxAcceleration
(
double
_lim);
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public
:
double
MaxAcceleration
()
const
;
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public
:
void
SetMinJerk
(
double
_lim);
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public
:
double
MinJerk
()
const
;
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public
:
void
SetMaxJerk
(
double
_lim);
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public
:
double
MaxJerk
()
const
;
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public
:
double
Limit
(
double
&_vel,
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double
_prevVel,
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double
_prevPrevVel,
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std::chrono::steady_clock::duration _dt)
const
;
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public
:
double
LimitVelocity
(
double
&_vel)
const
;
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public
:
double
LimitAcceleration
(
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double
&_vel,
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double
_prevVel,
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std::chrono::steady_clock::duration _dt)
const
;
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public
:
double
LimitJerk
(
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double
&_vel,
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double
_prevVel,
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double
_prevPrevVel,
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std::chrono::steady_clock::duration _dt)
const
;
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#ifdef _WIN32
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// Disable warning C4251 which is triggered by
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// std::unique_ptr
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#pragma warning(push)
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#pragma warning(disable: 4251)
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#endif
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private
:
std::unique_ptr<SpeedLimiterPrivate>
dataPtr;
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#ifdef _WIN32
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#pragma warning(pop)
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#endif
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};
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}
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}
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}
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#endif