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dwb_plugins::KinematicParameters Struct Reference

A struct containing one representation of the robot's kinematics. More...

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

Public Member Functions

double getMinX ()
 
double getMaxX ()
 
double getAccX ()
 
double getDecelX ()
 
double getMinY ()
 
double getMaxY ()
 
double getAccY ()
 
double getDecelY ()
 
double getMinSpeedXY ()
 
double getMaxSpeedXY ()
 
double getMinTheta ()
 
double getMaxTheta ()
 
double getAccTheta ()
 
double getDecelTheta ()
 
double getMinSpeedTheta ()
 
double getMinSpeedXY_SQ ()
 
double getMaxSpeedXY_SQ ()
 
bool isValidSpeed (double x, double y, double theta)
 Check to see whether the combined x/y/theta velocities are valid. More...
 

Protected Attributes

double min_vel_x_ {0}
 
double min_vel_y_ {0}
 
double max_vel_x_ {0}
 
double max_vel_y_ {0}
 
double base_max_vel_x_ {0}
 
double base_max_vel_y_ {0}
 
double max_vel_theta_ {0}
 
double base_max_vel_theta_ {0}
 
double min_speed_xy_ {0}
 
double max_speed_xy_ {0}
 
double base_max_speed_xy_ {0}
 
double min_speed_theta_ {0}
 
double acc_lim_x_ {0}
 
double acc_lim_y_ {0}
 
double acc_lim_theta_ {0}
 
double decel_lim_x_ {0}
 
double decel_lim_y_ {0}
 
double decel_lim_theta_ {0}
 
double min_speed_xy_sq_ {0}
 
double max_speed_xy_sq_ {0}
 

Friends

class KinematicsHandler
 

Detailed Description

A struct containing one representation of the robot's kinematics.

Definition at line 53 of file kinematic_parameters.hpp.

Member Function Documentation

◆ isValidSpeed()

bool dwb_plugins::KinematicParameters::isValidSpeed ( double  x,
double  y,
double  theta 
)
inline

Check to see whether the combined x/y/theta velocities are valid.

Returns
True if the magnitude hypot(x,y) and theta are within the robot's absolute limits

This is based on three parameters: min_speed_xy, max_speed_xy and min_speed_theta. The speed is valid if 1) The combined magnitude hypot(x,y) is less than max_speed_xy (or max_speed_xy is negative) AND 2) min_speed_xy is negative or min_speed_theta is negative or hypot(x,y) is greater than min_speed_xy or fabs(theta) is greater than min_speed_theta.

Definition at line 90 of file kinematic_parameters.hpp.

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