Class Limits

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

Index

Constructors

Methods

Constructors

constructor

new Limits(
    maxLinear: number,
    maxAngular: number,
    maxLinearAccel: number,
    maxAngularAccel: number,
): Limits
Creates limits starting from rest. Each magnitude is used, and one that is not a number is taken as 0, which holds the robot still.
Parameters
- maxLinear: number
  the largest planar speed.
- maxAngular: number
  the largest yaw rate.
- maxLinearAccel: number
  the largest change in speed per second.
- maxAngularAccel: number
  the largest change in yaw rate per second.
Returns Limits
- Defined in index.d.ts:1152

Methods

apply

apply(desired: Twist, dt: number): Twist
Returns desired held to the speed limits and eased toward within the acceleration limits over dt.
Parameters
- desired: Twist
- dt: number
Returns Twist
- Defined in index.d.ts:1157

reset

reset(): void
Forgets the motion last allowed, so the next command eases up from rest.

Returns void
- Defined in index.d.ts:1159