Limits the acceleration in the generated trajectories to a fraction of the simulated time. More...

#include <nav2_dwb_controller/dwb_plugins/include/dwb_plugins/limited_accel_generator.hpp>

Inheritance diagram for dwb_plugins::LimitedAccelGenerator:

Collaboration diagram for dwb_plugins::LimitedAccelGenerator:

[legend]

Public Member Functions
void	initialize (const nav2::LifecycleNode::SharedPtr &nh, const std::string &plugin_name) override
	Initialize parameters as needed. More...

void	startNewIteration (const nav_2d_msgs::msg::Twist2D &current_velocity) override
	Start a new iteration based on the current velocity. More...

Public Member Functions inherited from dwb_plugins::StandardTrajectoryGenerator
void	initialize (const nav2::LifecycleNode::SharedPtr &nh, const std::string &plugin_name) override
	Initialize parameters as needed. More...

void	startNewIteration (const nav_2d_msgs::msg::Twist2D &current_velocity) override
	Start a new iteration based on the current velocity. More...

bool	hasMoreTwists () override
	Test to see whether there are more twists to test. More...

nav_2d_msgs::msg::Twist2D	nextTwist () override
	Return the next twist and advance the iteration. More...

dwb_msgs::msg::Trajectory2D	generateTrajectory (const geometry_msgs::msg::Pose &start_pose, const nav_2d_msgs::msg::Twist2D &start_vel, const nav_2d_msgs::msg::Twist2D &cmd_vel) override
	Given a cmd_vel in the robot's frame and initial conditions, generate a Trajectory2D. More...

void	setSpeedLimit (const double &speed_limit, const bool &percentage) override
	Limits the maximum linear speed of the robot. More...

Public Member Functions inherited from dwb_core::TrajectoryGenerator
virtual void	reset ()

virtual std::vector< nav_2d_msgs::msg::Twist2D >	getTwists (const nav_2d_msgs::msg::Twist2D &current_velocity)
	Get all the twists for an iteration. More...

Protected Member Functions
nav_2d_msgs::msg::Twist2D	computeNewVelocity (const nav_2d_msgs::msg::Twist2D &cmd_vel, const nav_2d_msgs::msg::Twist2D &start_vel, const double dt) override
	Calculate the velocity after a set period of time, given the desired velocity and acceleration limits. More...

Protected Member Functions inherited from dwb_plugins::StandardTrajectoryGenerator
virtual void	initializeIterator (const nav2::LifecycleNode::SharedPtr &nh)
	Initialize the VelocityIterator pointer. Put in its own function for easy overriding.

virtual geometry_msgs::msg::Pose	computeNewPosition (const geometry_msgs::msg::Pose start_pose, const nav_2d_msgs::msg::Twist2D &vel, const double dt)
	Use the robot's kinematic model to predict new positions for the robot. More...

virtual std::vector< double >	getTimeSteps (const nav_2d_msgs::msg::Twist2D &cmd_vel)
	Compute an array of time deltas between the points in the generated trajectory. More...

Protected Attributes
double	acceleration_time_

std::string	plugin_name_

Protected Attributes inherited from dwb_plugins::StandardTrajectoryGenerator
KinematicsHandler::Ptr	kinematics_handler_

std::shared_ptr< VelocityIterator >	velocity_iterator_

double	sim_time_

bool	discretize_by_time_

double	time_granularity_
	If discretizing by time, the amount of time between each point in the traj.

double	linear_granularity_
	If not discretizing by time, the amount of linear space between points.

double	angular_granularity_
	If not discretizing by time, the amount of angular space between points.

std::string	plugin_name_
	the name of the overlying plugin ID

bool	limit_vel_cmd_in_traj_
	Option to limit velocity in the trajectory generator by using current velocity.

bool	include_last_point_

Additional Inherited Members
Public Types inherited from dwb_core::TrajectoryGenerator
typedef std::shared_ptr< dwb_core::TrajectoryGenerator >	Ptr

Detailed Description

Limits the acceleration in the generated trajectories to a fraction of the simulated time.

Definition at line 50 of file limited_accel_generator.hpp.

Member Function Documentation

◆ computeNewVelocity()

nav_2d_msgs::msg::Twist2D dwb_plugins::LimitedAccelGenerator::computeNewVelocity	(	const nav_2d_msgs::msg::Twist2D &	cmd_vel,
		const nav_2d_msgs::msg::Twist2D &	start_vel,
		const double	dt
	)

overrideprotectedvirtual

Calculate the velocity after a set period of time, given the desired velocity and acceleration limits.

Unlike the StandardTrajectoryGenerator, the velocity remains constant in the LimitedAccelGenerator

Parameters

cmd_vel	Desired velocity
start_vel	starting velocity
dt	amount of time in seconds

Returns: cmd_vel

Reimplemented from dwb_plugins::StandardTrajectoryGenerator.

Definition at line 86 of file limited_accel_generator.cpp.

◆ initialize()

void dwb_plugins::LimitedAccelGenerator::initialize	(	const nav2::LifecycleNode::SharedPtr &	nh,
		const std::string &	plugin_name
	)

overridevirtual

Initialize parameters as needed.

Parameters

nh	NodeHandle to read parameters from

Implements dwb_core::TrajectoryGenerator.

Definition at line 46 of file limited_accel_generator.cpp.

References dwb_plugins::StandardTrajectoryGenerator::initialize().

Here is the call graph for this function:

◆ startNewIteration()

void dwb_plugins::LimitedAccelGenerator::startNewIteration ( const nav_2d_msgs::msg::Twist2D & current_velocity )

overridevirtual

Start a new iteration based on the current velocity.

Parameters

current_velocity

Implements dwb_core::TrajectoryGenerator.

Definition at line 80 of file limited_accel_generator.cpp.

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

nav2_dwb_controller/dwb_plugins/include/dwb_plugins/limited_accel_generator.hpp
nav2_dwb_controller/dwb_plugins/src/limited_accel_generator.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ computeNewVelocity()

◆ initialize()

◆ startNewIteration()