138 lines
3.9 KiB
C++
Executable File
138 lines
3.9 KiB
C++
Executable File
/*********************************************************************
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Copyright (c) 2013, PAL Robotics, S.L.
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of the PAL Robotics nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*********************************************************************/
|
|
|
|
/*
|
|
* Author: Enrique Fernández
|
|
*/
|
|
|
|
#include <algorithm>
|
|
|
|
#include <ros_kinematics/speed_limiter.h>
|
|
|
|
template<typename T>
|
|
T clamp(T x, T min, T max)
|
|
{
|
|
return std::min(std::max(min, x), max);
|
|
}
|
|
|
|
namespace ros_kinematics
|
|
{
|
|
|
|
SpeedLimiter::SpeedLimiter(
|
|
bool has_velocity_limits,
|
|
bool has_acceleration_limits,
|
|
bool has_jerk_limits,
|
|
double min_velocity,
|
|
double max_velocity,
|
|
double min_acceleration,
|
|
double max_acceleration,
|
|
double min_jerk,
|
|
double max_jerk
|
|
)
|
|
: has_velocity_limits(has_velocity_limits)
|
|
, has_acceleration_limits(has_acceleration_limits)
|
|
, has_jerk_limits(has_jerk_limits)
|
|
, min_velocity(min_velocity)
|
|
, max_velocity(max_velocity)
|
|
, min_acceleration(min_acceleration)
|
|
, max_acceleration(max_acceleration)
|
|
, min_jerk(min_jerk)
|
|
, max_jerk(max_jerk)
|
|
{
|
|
}
|
|
|
|
double SpeedLimiter::limit(double& v, double v0, double v1, double dt)
|
|
{
|
|
const double tmp = v;
|
|
|
|
limit_jerk(v, v0, v1, dt);
|
|
limit_acceleration(v, v0, dt);
|
|
limit_velocity(v);
|
|
|
|
return tmp != 0.0 ? v / tmp : 1.0;
|
|
}
|
|
|
|
double SpeedLimiter::limit_velocity(double& v)
|
|
{
|
|
const double tmp = v;
|
|
|
|
if (has_velocity_limits)
|
|
{
|
|
v = clamp(v, min_velocity, max_velocity);
|
|
}
|
|
|
|
return tmp != 0.0 ? v / tmp : 1.0;
|
|
}
|
|
|
|
double SpeedLimiter::limit_acceleration(double& v, double v0, double dt)
|
|
{
|
|
const double tmp = v;
|
|
|
|
if (has_acceleration_limits)
|
|
{
|
|
const double dv_min = min_acceleration * dt;
|
|
const double dv_max = max_acceleration * dt;
|
|
|
|
const double dv = clamp(v - v0, dv_min, dv_max);
|
|
|
|
v = v0 + dv;
|
|
}
|
|
|
|
return tmp != 0.0 ? v / tmp : 1.0;
|
|
}
|
|
|
|
double SpeedLimiter::limit_jerk(double& v, double v0, double v1, double dt)
|
|
{
|
|
const double tmp = v;
|
|
|
|
if (has_jerk_limits)
|
|
{
|
|
const double dv = v - v0;
|
|
const double dv0 = v0 - v1;
|
|
|
|
const double dt2 = 2. * dt * dt;
|
|
|
|
const double da_min = min_jerk * dt2;
|
|
const double da_max = max_jerk * dt2;
|
|
|
|
const double da = clamp(dv - dv0, da_min, da_max);
|
|
|
|
v = v0 + dv0 + da;
|
|
}
|
|
|
|
return tmp != 0.0 ? v / tmp : 1.0;
|
|
}
|
|
|
|
} // namespace ros_kinematics
|