Limit Twist

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

class LimitTwistModulation : public navground::core::BehaviorModulation

A simple modulation that clips the twist command.

Registered properties:

• forward (see get_max_forward_speed)

• backward (see get_max_backward_speed)

• leftward (see get_max_leftward_speed)

• rightward (see get_max_rightward_speed)

• angular (see get_max_angular_speed)

Public Functions

inline explicit LimitTwistModulation(ng_float_t forward = std::numeric_limits<ng_float_t>::infinity(), ng_float_t backward = std::numeric_limits<ng_float_t>::infinity(), ng_float_t leftward = std::numeric_limits<ng_float_t>::infinity(), ng_float_t rightward = std::numeric_limits<ng_float_t>::infinity(), ng_float_t angular = std::numeric_limits<ng_float_t>::infinity())

Construct a new instance.

Parameters:

• forward – [in] The maximal forward speed

• backward – [in] The maximal backward speed

• leftward – [in] The maximal leftward speed

• rightward – [in] The maximal rightward speed

• angular – [in] The maximal angular speed

inline ng_float_t get_max_forward_speed() const

Gets the maximal forward speed.

Returns:

A positive number

inline void set_max_forward_speed(ng_float_t value)

Sets the maximal forward speed.

Parameters:

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

inline ng_float_t get_max_backward_speed() const

Gets the maximal backward speed.

Returns:

A positive number

inline void set_max_backward_speed(ng_float_t value)

Sets the maximal backward speed.

Parameters:

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

inline ng_float_t get_max_leftward_speed() const

Gets the maximal leftward speed.

Returns:

A positive number

inline void set_max_leftward_speed(ng_float_t value)

Sets the maximal leftward speed.

Parameters:

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

inline ng_float_t get_max_rightward_speed() const

Gets the maximal rightward speed.

Returns:

A positive number

inline void set_max_rightward_speed(ng_float_t value)

Sets the maximal rightward speed.

Parameters:

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

inline ng_float_t get_max_angular_speed() const

Gets the maximal angular speed.

Returns:

A positive number

inline void set_max_angular_speed(ng_float_t value)

Sets the maximal angular speed.

Parameters:

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