smooth_control_law.hpp

// Copyright (c) 2023 Alberto J. Tudela Roldán
//
// 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 NAV2_GRACEFUL_CONTROLLER__SMOOTH_CONTROL_LAW_HPP_
#define NAV2_GRACEFUL_CONTROLLER__SMOOTH_CONTROL_LAW_HPP_
 
#include <algorithm>
#include <string>
 
#include "geometry_msgs/msg/pose.hpp"
#include "geometry_msgs/msg/twist.hpp"
 
namespace nav2_graceful_controller
{
 
class SmoothControlLaw
{
public:
  SmoothControlLaw(
    double k_phi, double k_delta, double beta, double lambda,
    double slowdown_radius, double deceleration_max,
    double v_linear_min, double v_linear_max, double v_angular_max);
 
  ~SmoothControlLaw() = default;
 
  void setCurvatureConstants(
    const double k_phi, const double k_delta, const double beta, const double lambda);
 
  void setSlowdownRadius(const double slowdown_radius);
 
  void setMaxDeceleration(const double deceleration_max);
 
  void setSpeedLimit(
    const double v_linear_min, const double v_linear_max, const double v_angular_max);
 
  geometry_msgs::msg::Twist calculateRegularVelocity(
    const geometry_msgs::msg::Pose & target,
    const geometry_msgs::msg::Pose & current,
    const bool & backward = false);
 
  geometry_msgs::msg::Twist calculateRegularVelocity(
    const geometry_msgs::msg::Pose & target, const bool & backward = false);
 
  geometry_msgs::msg::Pose calculateNextPose(
    const double dt,
    const geometry_msgs::msg::Pose & target,
    const geometry_msgs::msg::Pose & current,
    const bool & backward = false);
 
protected:
  double calculateCurvature(double r, double phi, double delta);
 
  double k_phi_;
 
  double k_delta_;
 
  double beta_;
 
  double lambda_;
 
  double slowdown_radius_;
 
  double deceleration_max_;
 
  double v_linear_min_;
 
  double v_linear_max_;
 
  double v_angular_max_;
};
 
}  // namespace nav2_graceful_controller
 
#endif  // NAV2_GRACEFUL_CONTROLLER__SMOOTH_CONTROL_LAW_HPP_