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<li class="navelem"><a class="el" href="namespaceackermann.html">ackermann</a></li><li class="navelem"><a class="el" href="classackermann_1_1_limits.html">Limits</a></li> </ul>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">ackermann::Limits Class Reference</div> </div>
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<p>Class used to apply known limits to a given desired control signal.
<a href="classackermann_1_1_limits.html#details">More...</a></p>
<p><code>#include <<a class="el" href="_limits_8hpp_source.html">Limits.hpp</a>></code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ab33a83c243c38ae9f046c77d49a6de58"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classackermann_1_1_limits.html#ab33a83c243c38ae9f046c77d49a6de58">Limits</a> (const std::shared_ptr< const <a class="el" href="structackermann_1_1_params.html">Params</a> > &params)</td></tr>
<tr class="memdesc:ab33a83c243c38ae9f046c77d49a6de58"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="classackermann_1_1_limits.html#ab33a83c243c38ae9f046c77d49a6de58">More...</a><br /></td></tr>
<tr class="separator:ab33a83c243c38ae9f046c77d49a6de58"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1fcf66ef8f8161d38e3d77c1e5acfb92"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classackermann_1_1_limits.html#a1fcf66ef8f8161d38e3d77c1e5acfb92">limit</a> (const double current_speed, const double current_steering, const double current_steering_vel, double &desired_throttle, double &desired_steering, double &desired_steering_vel, double dt) const</td></tr>
<tr class="memdesc:a1fcf66ef8f8161d38e3d77c1e5acfb92"><td class="mdescLeft"> </td><td class="mdescRight">Apply known limits to the given controller command. <a href="classackermann_1_1_limits.html#a1fcf66ef8f8161d38e3d77c1e5acfb92">More...</a><br /></td></tr>
<tr class="separator:a1fcf66ef8f8161d38e3d77c1e5acfb92"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0e75c61fc7d5d90c6f64af78d8cf76ff"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classackermann_1_1_limits.html#a0e75c61fc7d5d90c6f64af78d8cf76ff">throttleToSpeed</a> (double throttle) const</td></tr>
<tr class="memdesc:a0e75c61fc7d5d90c6f64af78d8cf76ff"><td class="mdescLeft"> </td><td class="mdescRight">Use Parameters structure to convert throttle to speed as a function of maximum allowable speed. <a href="classackermann_1_1_limits.html#a0e75c61fc7d5d90c6f64af78d8cf76ff">More...</a><br /></td></tr>
<tr class="separator:a0e75c61fc7d5d90c6f64af78d8cf76ff"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:abb347d9d57d22dfe47ef704ea6d10d7d"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classackermann_1_1_limits.html#abb347d9d57d22dfe47ef704ea6d10d7d">speedToThrottle</a> (double speed) const</td></tr>
<tr class="memdesc:abb347d9d57d22dfe47ef704ea6d10d7d"><td class="mdescLeft"> </td><td class="mdescRight">Use Parameters structure to convert speed to throttle as a function of maximum allowable speed. <a href="classackermann_1_1_limits.html#abb347d9d57d22dfe47ef704ea6d10d7d">More...</a><br /></td></tr>
<tr class="separator:abb347d9d57d22dfe47ef704ea6d10d7d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a7fb25c558450b31945d1b13db4573a08"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classackermann_1_1_limits.html#a7fb25c558450b31945d1b13db4573a08">shortestArcToTurn</a> (double current_heading, double desired_heading) const</td></tr>
<tr class="memdesc:a7fb25c558450b31945d1b13db4573a08"><td class="mdescLeft"> </td><td class="mdescRight">Calculate the direction to minimize turning angle (eg, don't turn 270deg right if you can turn 90deg left. <a href="classackermann_1_1_limits.html#a7fb25c558450b31945d1b13db4573a08">More...</a><br /></td></tr>
<tr class="separator:a7fb25c558450b31945d1b13db4573a08"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a18e0ace6fde91bf5b641197dafbd5f57"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classackermann_1_1_limits.html#a18e0ace6fde91bf5b641197dafbd5f57">boundHeading</a> (const double heading) const</td></tr>
<tr class="memdesc:a18e0ace6fde91bf5b641197dafbd5f57"><td class="mdescLeft"> </td><td class="mdescRight">Bound heading to [-pi,pi) range; prevents odd behavior. <a href="classackermann_1_1_limits.html#a18e0ace6fde91bf5b641197dafbd5f57">More...</a><br /></td></tr>
<tr class="separator:a18e0ace6fde91bf5b641197dafbd5f57"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Class used to apply known limits to a given desired control signal. </p>
</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
<a id="ab33a83c243c38ae9f046c77d49a6de58"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab33a83c243c38ae9f046c77d49a6de58">◆ </a></span>Limits()</h2>
<div class="memitem">
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<td class="mlabels-left">
<table class="memname">
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<td class="memname">ackermann::Limits::Limits </td>
<td>(</td>
<td class="paramtype">const std::shared_ptr< const <a class="el" href="structackermann_1_1_params.html">Params</a> > & </td>
<td class="paramname"><em>params</em></td><td>)</td>
<td></td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">explicit</span></span> </td>
</tr>
</table>
</div><div class="memdoc">
<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">params</td><td>Shared pointer detailing rover characteristic parameters </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a18e0ace6fde91bf5b641197dafbd5f57"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a18e0ace6fde91bf5b641197dafbd5f57">◆ </a></span>boundHeading()</h2>
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<table class="memname">
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<td class="memname">double ackermann::Limits::boundHeading </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>heading</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Bound heading to [-pi,pi) range; prevents odd behavior. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">current_heading</td><td>Current heading in radians </td></tr>
<tr><td class="paramname">desired_heading</td><td>Desired heading in radians </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Bound heading in radians </dd></dl>
</div>
</div>
<a id="a1fcf66ef8f8161d38e3d77c1e5acfb92"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1fcf66ef8f8161d38e3d77c1e5acfb92">◆ </a></span>limit()</h2>
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<td class="memname">void ackermann::Limits::limit </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>current_speed</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>current_steering</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>current_steering_vel</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>desired_throttle</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>desired_steering</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>desired_steering_vel</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>dt</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Apply known limits to the given controller command. </p>
<p>Apply known kinematic constraints (velocity, acceleration, angular velocity, angular acceleration) to the given potential commands, and return the limited version. (Return paramaters noted)</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">current_speed</td><td>Current speed in (m/s). </td></tr>
<tr><td class="paramname">current_steering</td><td>Current commanded steering angle (rad). </td></tr>
<tr><td class="paramname">desired_thottle</td><td>(Return Parameter) Desired throttle (generally [0,1]). </td></tr>
<tr><td class="paramname">desired_steering</td><td>(Return Parameter) Desired steering angle (rad). </td></tr>
<tr><td class="paramname">desired_steering_vel</td><td>(Return parameter) Desired steering velocity (rad/s). </td></tr>
<tr><td class="paramname">dt</td><td>Fixed time step between commands (s). </td></tr>
</table>
</dd>
</dl>
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<a id="a7fb25c558450b31945d1b13db4573a08"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7fb25c558450b31945d1b13db4573a08">◆ </a></span>shortestArcToTurn()</h2>
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<td class="memname">double ackermann::Limits::shortestArcToTurn </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>current_heading</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>desired_heading</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Calculate the direction to minimize turning angle (eg, don't turn 270deg right if you can turn 90deg left. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">current_heading</td><td>Current heading in radians </td></tr>
<tr><td class="paramname">desired_heading</td><td>Desired heading in radians </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Angle and direction (+/-) to turn (rad) </dd></dl>
</div>
</div>
<a id="abb347d9d57d22dfe47ef704ea6d10d7d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abb347d9d57d22dfe47ef704ea6d10d7d">◆ </a></span>speedToThrottle()</h2>
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<td class="memname">double ackermann::Limits::speedToThrottle </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>speed</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Use Parameters structure to convert speed to throttle as a function of maximum allowable speed. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">speed</td><td>Speed in range of [0,max_speed] </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Throttle position estimate from speed (linear relationship) [0,1] </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a0e75c61fc7d5d90c6f64af78d8cf76ff">◆ </a></span>throttleToSpeed()</h2>
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<td class="memname">double ackermann::Limits::throttleToSpeed </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>throttle</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Use Parameters structure to convert throttle to speed as a function of maximum allowable speed. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">throttle</td><td>Throttle setting in range of generally [0,1] </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Speed based on throttle input (linear relationship) (m/s) </dd></dl>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/<a class="el" href="_limits_8hpp_source.html">Limits.hpp</a></li>
<li>app/<a class="el" href="_limits_8cpp.html">Limits.cpp</a></li>
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