Struct Limits 

pub struct Limits { /* private fields */ }

Bounds a robot’s speed and acceleration so commands stay within what the machine can do safely.

A raw command can be too fast or too sudden: a full-speed setpoint snaps the wheels, a hard reverse strips traction. Limits caps the planar speed and yaw rate, then eases each toward the capped target at a bounded acceleration, so motion is smooth and within envelope. The easing reuses Ramp as its slew-rate limiter, with the step set to accel * dt each update.

Examples

use pamoja_kit::{Limits, Twist};

// Up to 1 m/s and 2 rad/s, easing on at 0.5 m/s^2 and 4 rad/s^2.
let mut limits = Limits::new(1.0, 2.0, 0.5, 4.0);

// Asking for full speed from rest: the first 0.1 s step is acceleration-limited.
let cmd = limits.apply(Twist::planar(1.0, 0.0), 0.1);
assert!((cmd.vx - 0.05).abs() < 1e-6); // 0.5 m/s^2 * 0.1 s

Implementations

impl Limits

pub fn new( max_linear: f32, max_angular: f32, max_linear_accel: f32, max_angular_accel: f32, ) -> Self

Creates limits from the speed and acceleration ceilings.

Arguments

• max_linear - the largest planar speed; its magnitude is used.
• max_angular - the largest yaw rate; its magnitude is used.
• max_linear_accel - the largest change in linear speed per second; its magnitude is used.
• max_angular_accel - the largest change in yaw rate per second; its magnitude is used.

A ceiling that is not a number is taken as zero, so a mistake holds the robot still.

Returns

Limits starting from rest.

pub fn reset(&mut self)

Resets the remembered motion to rest, so the next command eases up from zero.

pub fn apply(&mut self, desired: Twist, dt: f32) -> Twist

Bounds a desired command in speed and acceleration and returns the safe command.

Arguments

• desired - the requested body motion. A component that is not a finite number is taken as zero, so a planner that fails eases the robot to a stop.
• dt - the time since the previous call, setting the acceleration step. One that is not a finite number allows no change this call.

Returns

The command after capping speed and easing toward it within the acceleration limit.

Trait Implementations

impl Clone for Limits

fn clone(&self) -> Limits

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for Limits

impl Debug for Limits

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.