Limit Acceleration

#include "navground/core/behavior_modulations/limit_acceleration.h"

class LimitAccelerationModulation : public navground::core::BehaviorModulation

A modulation that limits accelerations.

Registered properties:

• max_acceleration (see get_max_acceleration)

• max_angular_acceleration (see get_max_angular_acceleration)

Public Functions

inline explicit LimitAccelerationModulation(ng_float_t max_acceleration = std::numeric_limits<ng_float_t>::infinity(), ng_float_t max_angular_acceleration = std::numeric_limits<ng_float_t>::infinity())

Construct a new instance.

Parameters:

• max_acceleration – [in] The maximal acceleration

• max_angular_acceleration – [in] The maximal angular acceleration

inline ng_float_t get_max_acceleration() const

Gets the maximal acceleration.

Returns:

A positive number

inline void set_max_acceleration(ng_float_t value)

Sets the maximal acceleration.

Parameters:

value – [in] A positive number. If lower than zero or infinite, clipping is disabled.

inline ng_float_t get_max_angular_acceleration() const

Gets the maximal angular acceleration.

Returns:

A positive number

inline void set_max_angular_acceleration(ng_float_t value)

Sets the maximal angular acceleration.

Parameters:

value – [in] A positive number. If lower than zero or infinite, clipping is disabled.