VelocitySmoother Class Reference

Brings the commanded velocity towards a target within the robot limits. More...

#include <VelocitySmoother.hpp>

Public Member Functions
const geometry_msgs::msg::Twist &	current () const
	The current (last) command.
const RobotLimits &	get_limits () const
	Limits being enforced.
bool	reached (const geometry_msgs::msg::Twist &target) const
	Whether the current command already equals target, clamped to the limits.
void	reset (const geometry_msgs::msg::Twist &current=geometry_msgs::msg::Twist())
	Makes current the current command, e.g. after a command that bypassed smoothing.
void	set_limits (const RobotLimits &limits)
	Sets the limits to enforce.
const geometry_msgs::msg::Twist &	step (const geometry_msgs::msg::Twist &target, double dt)
	Next command towards target, dt seconds after the previous one.
double	time_to_stop () const
	Seconds needed to stop from the current command at the maximum deceleration.

Detailed Description

Brings the commanded velocity towards a target within the robot limits.

Each step clamps the target to the velocity limits and moves the current command towards it by at most acceleration * dt (speeding up) or deceleration * dt (slowing down), per axis (linear x and y, angular z). A change of direction stops at zero first. So a command never jumps, e.g. from full speed to zero, which would make the robot brake harder than it can.

Member Function Documentation

current()

const geometry_msgs::msg::Twist & current ( ) const

nodiscard

The current (last) command.

get_limits()

const RobotLimits & get_limits ( ) const

nodiscard

Limits being enforced.

reached()

bool reached ( const geometry_msgs::msg::Twist & target ) const

nodiscard

Whether the current command already equals target, clamped to the limits.

reset()

void reset

(

const geometry_msgs::msg::Twist &

current = geometry_msgs::msg::Twist()

)

Makes current the current command, e.g. after a command that bypassed smoothing.

set_limits()

void set_limits

(

const RobotLimits &

limits

)

Sets the limits to enforce.

step()

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

Next command towards target, dt seconds after the previous one.

Returns

The new current command.

time_to_stop()

double time_to_stop ( ) const

nodiscard

Seconds needed to stop from the current command at the maximum deceleration.

---

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

• easynav_controller/include/easynav_controller/VelocitySmoother.hpp
• easynav_controller/src/easynav_controller/VelocitySmoother.cpp