Class Limits

Namespace

Pamoja.Kit

Assembly

Pamoja.Kit.dll

Speed and acceleration limits, with the motion they last allowed.

public sealed class Limits : IDisposable

Inheritance

object

Limits

Implements

IDisposable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object, object)

object.ToString()

Constructors

Limits(float, float, float, float)

Creates limits starting from rest.

public Limits(float maxLinear, float maxAngular, float maxLinearAccel, float maxAngularAccel)

Parameters

maxLinear float

The largest planar speed.

maxAngular float

The largest yaw rate.

maxLinearAccel float

The largest change in speed per second.

maxAngularAccel float

The largest change in yaw rate per second.

Remarks

Each magnitude is used, and one that is not a number is taken as 0, which holds the robot still.

Methods

Apply(Twist, float)

Holds a command to the speed limits and eases toward it within the acceleration limits.

public Twist Apply(Twist desired, float dt)

Parameters

desired Twist

The requested motion; a part that is not a finite number is taken as 0.

dt float

The time since the last call; one that is not a finite number allows no change.

Returns

Twist

The bounded command.

Dispose()

Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.

public void Dispose()

Reset()

Forgets the motion last allowed, so the next command eases up from rest.

public void Reset()