dwb_plugins::OneDVelocityIterator Class Reference

An iterator for generating a number of samples in a range. More...

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

Public Member Functions
	OneDVelocityIterator (double current, double min, double max, double acc_limit, double decel_limit, double acc_time, int num_samples)
	Constructor for the velocity iterator. More...
double	getVelocity () const
	Get the next velocity available.
OneDVelocityIterator &	operator++ ()
	Increment the iterator.
void	reset ()
	Reset back to the first velocity.
bool	isFinished () const

Detailed Description

An iterator for generating a number of samples in a range.

In its simplest usage, this gives us N (num_samples) different velocities that are reachable given our current velocity. However, there is some fancy logic around zero velocities and the min/max velocities

If the current velocity is 2 m/s, and the acceleration limit is 1 m/ss and the acc_time is 1 s, this class would provide velocities between 1 m/s and 3 m/s.

Definition at line 82 of file one_d_velocity_iterator.hpp.

Constructor & Destructor Documentation

OneDVelocityIterator()

dwb_plugins::OneDVelocityIterator::OneDVelocityIterator ( double  current, double  min, double  max, double  acc_limit, double  decel_limit, double  acc_time, int  num_samples  )

inline

Constructor for the velocity iterator.

Parameters

current	Current velocity
min	Minimum velocity allowable
max	Maximum velocity allowable
acc_limit	Acceleration Limit
decel_limit	Deceleration Limit
num_samples	The number of samples to return

Definition at line 95 of file one_d_velocity_iterator.hpp.

References reset().

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Member Function Documentation

isFinished()

bool dwb_plugins::OneDVelocityIterator::isFinished ( ) const

inline

If we have returned all the velocities for this iteration

Definition at line 157 of file one_d_velocity_iterator.hpp.

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

• nav2_dwb_controller/dwb_plugins/include/dwb_plugins/one_d_velocity_iterator.hpp