base_local_planner/html/local__planner__limits_8h_source.html

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#ifndef __base_local_planner__LOCALPLANNERLIMITS_H__

#define __base_local_planner__LOCALPLANNERLIMITS_H__


#include <Eigen/Core>


namespace base_local_planner

{

class LocalPlannerLimits

{

public:


  double max_vel_trans;

  double min_vel_trans;

  double max_vel_x;

  double min_vel_x;

  double max_vel_y;

  double min_vel_y;

  double max_vel_theta;

  double min_vel_theta;

  double acc_lim_x;

  double acc_lim_y;

  double acc_lim_theta;

  double acc_lim_trans;

  double deacc_lim_trans;

  bool   prune_plan;

  double xy_goal_tolerance;

  double yaw_goal_tolerance;

  double trans_stopped_vel;

  double theta_stopped_vel;

  double min_lookahead_distance;

  bool   restore_defaults;


  LocalPlannerLimits() {}


  LocalPlannerLimits(

      double nmax_vel_trans,

      double nmin_vel_trans,

      double nmax_vel_x,

      double nmin_vel_x,

      double nmax_vel_y,

      double nmin_vel_y,

      double nmax_vel_theta,

      double nmin_vel_theta,

      double nacc_lim_x,

      double nacc_lim_y,

      double nacc_lim_theta,

      double nacc_lim_trans,

      double ndeacc_lim_trans,

      double nxy_goal_tolerance,

      double nyaw_goal_tolerance,

      bool   nprune_plan = true,

      double ntrans_stopped_vel = 0.1,

      double ntheta_stopped_vel = 0.1,

      double nmin_lookahead_distance = 1):

        max_vel_trans(nmax_vel_trans),

        min_vel_trans(nmin_vel_trans),

        max_vel_x(nmax_vel_x),

        min_vel_x(nmin_vel_x),

        max_vel_y(nmax_vel_y),

        min_vel_y(nmin_vel_y),

        max_vel_theta(nmax_vel_theta),

        min_vel_theta(nmin_vel_theta),

        acc_lim_x(nacc_lim_x),

        acc_lim_y(nacc_lim_y),

        acc_lim_theta(nacc_lim_theta),

        acc_lim_trans(nacc_lim_trans),

        deacc_lim_trans(ndeacc_lim_trans),

        prune_plan(nprune_plan),

        xy_goal_tolerance(nxy_goal_tolerance),

        yaw_goal_tolerance(nyaw_goal_tolerance),

        trans_stopped_vel(ntrans_stopped_vel),

        theta_stopped_vel(ntheta_stopped_vel),

        min_lookahead_distance(nmin_lookahead_distance){}


  ~LocalPlannerLimits() {}


  Eigen::Vector3f getAccLimits() {

    Eigen::Vector3f acc_limits;

    acc_limits[0] = acc_lim_x;

    acc_limits[1] = acc_lim_y;

    acc_limits[2] = acc_lim_theta;

    return acc_limits;

  }


};


}

#endif // __LOCALPLANNERLIMITS_H__