VelocitySmoother.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// 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 EASYNAV_CONTROLLER__VELOCITYSMOOTHER_HPP_
#define EASYNAV_CONTROLLER__VELOCITYSMOOTHER_HPP_
 
#include "geometry_msgs/msg/twist.hpp"
 
#include "easynav_core/RobotLimits.hpp"
 
namespace easynav
{

class VelocitySmoother
{
public:
  void set_limits(const RobotLimits & limits) {limits_ = limits;}

  [[nodiscard]] const RobotLimits & get_limits() const {return limits_;}

  const geometry_msgs::msg::Twist & step(const geometry_msgs::msg::Twist & target, double dt);

  void reset(const geometry_msgs::msg::Twist & current = geometry_msgs::msg::Twist());

  [[nodiscard]] const geometry_msgs::msg::Twist & current() const {return current_;}

  [[nodiscard]] bool reached(const geometry_msgs::msg::Twist & target) const;

  [[nodiscard]] double time_to_stop() const;
 
private:
  [[nodiscard]] geometry_msgs::msg::Twist clamp(const geometry_msgs::msg::Twist & target) const;
 
  RobotLimits limits_;
  geometry_msgs::msg::Twist current_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_CONTROLLER__VELOCITYSMOOTHER_HPP_