66 lines
2.3 KiB
C++
66 lines
2.3 KiB
C++
|
/**
|
||
|
|
* Copyright 2020 Jonathan Bayless
|
||
|
|
*
|
||
|
|
* Use of this source code is governed by an MIT-style license that can be found
|
||
|
|
* in the LICENSE file or at https://opensource.org/licenses/MIT.
|
||
|
|
*/
|
||
|
|
#ifndef _SQUIGGLES_CONSTRAINTS_HPP_
|
||
|
|
#define _SQUIGGLES_CONSTRAINTS_HPP_
|
||
|
|
|
||
|
|
#include <cmath>
|
||
|
|
#include <string>
|
||
|
|
|
||
|
|
namespace squiggles {
|
||
|
|
struct Constraints {
|
||
|
|
/**
|
||
|
|
* Defines the motion constraints for a path.
|
||
|
|
*
|
||
|
|
* @param imax_vel The maximum allowable velocity for the robot in meters per
|
||
|
|
* second.
|
||
|
|
* @param imax_accel The maximum allowable acceleration for the robot in
|
||
|
|
* meters per second per second.
|
||
|
|
* @param imax_jerk The maximum allowable jerk for the robot in meters per
|
||
|
|
* second per second per second (m/s^3).
|
||
|
|
* @param imax_curvature The maximum allowable change in heading in radians
|
||
|
|
* per second. This is not set to the numeric limits by
|
||
|
|
* default as that will allow for wild paths.
|
||
|
|
* @param imin_accel The minimum allowable acceleration for the robot in
|
||
|
|
* meters per second per second.
|
||
|
|
*/
|
||
|
|
Constraints(double imax_vel,
|
||
|
|
double imax_accel = std::numeric_limits<double>::max(),
|
||
|
|
double imax_jerk = std::numeric_limits<double>::max(),
|
||
|
|
double imax_curvature = 1000,
|
||
|
|
double imin_accel = std::nan(""))
|
||
|
|
: max_vel(imax_vel),
|
||
|
|
max_accel(imax_accel),
|
||
|
|
max_jerk(imax_jerk),
|
||
|
|
max_curvature(imax_curvature) {
|
||
|
|
if (imax_accel == std::numeric_limits<double>::max()) {
|
||
|
|
min_accel = std::numeric_limits<double>::lowest();
|
||
|
|
} else {
|
||
|
|
min_accel = std::isnan(imin_accel) ? -imax_accel : imin_accel;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Serializes the Constraints data for debugging.
|
||
|
|
*
|
||
|
|
* @return The Constraints data.
|
||
|
|
*/
|
||
|
|
std::string to_string() const {
|
||
|
|
return "Constraints: {max_vel: " + std::to_string(max_vel) +
|
||
|
|
", max_accel: " + std::to_string(max_accel) +
|
||
|
|
", max_jerk: " + std::to_string(max_jerk) +
|
||
|
|
", min_accel: " + std::to_string(min_accel) + "}";
|
||
|
|
}
|
||
|
|
|
||
|
|
double max_vel;
|
||
|
|
double max_accel;
|
||
|
|
double max_jerk;
|
||
|
|
double min_accel;
|
||
|
|
double max_curvature;
|
||
|
|
};
|
||
|
|
} // namespace squiggles
|
||
|
|
#endif
|