Class ZOSpeedLimiter

Velocity, Acceleration and Jerk limiter See: https://github.com/ros-controls/ros_controllers/blob/noetic-devel/diff_drive_controller/src/speed_limiter.cpp

Inheritance

System.Object

ZOSpeedLimiter

Inherited Members

System.Object.Equals(System.Object)

System.Object.Equals(System.Object, System.Object)

System.Object.GetHashCode()

System.Object.GetType()

System.Object.MemberwiseClone()

System.Object.ReferenceEquals(System.Object, System.Object)

System.Object.ToString()

Namespace: ZO.Physics

Assembly: Unity.ZeroSim.dll

Syntax

[Serializable]
public class ZOSpeedLimiter

Fields

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_hasAccelerationLimits

if true, applies acceleration limits

Declaration

public bool _hasAccelerationLimits

Field Value

Type	Description
System.Boolean

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_hasJerkLimits

if true, applies jerk limits

Declaration

public bool _hasJerkLimits

Field Value

Type	Description
System.Boolean

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_hasVelocityLimits

If true applies velocity limits

Declaration

public bool _hasVelocityLimits

Field Value

Type	Description
System.Boolean

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_maxAcceleration

Declaration

public float _maxAcceleration

Field Value

Type	Description
System.Single

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_maxJerk

Declaration

public float _maxJerk

Field Value

Type	Description
System.Single

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_maxVelocity

Declaration

public float _maxVelocity

Field Value

Type	Description
System.Single

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_minAcceleration

Declaration

public float _minAcceleration

Field Value

Type	Description
System.Single

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_minJerk

Declaration

public float _minJerk

Field Value

Type	Description
System.Single

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_minVelocity

Declaration

public float _minVelocity

Field Value

Type	Description
System.Single

Methods

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LimitAcceleration(ref Single, Single, Single)

Declaration

public float LimitAcceleration(ref float velocity, float velocity0, float dt)

Parameters

Type	Name	Description
System.Single	velocity
System.Single	velocity0
System.Single	dt

Returns

Type	Description
System.Single

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LimitJerk(ref Single, Single, Single, Single)

Declaration

public float LimitJerk(ref float velocity, float velocity0, float velocity1, float dt)

Parameters

Type	Name	Description
System.Single	velocity
System.Single	velocity0
System.Single	velocity1
System.Single	dt

Returns

Type	Description
System.Single

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LimitVelocity(ref Single)

Declaration

public float LimitVelocity(ref float velocity)

Parameters

Type	Name	Description
System.Single	velocity

Returns

Type	Description
System.Single

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LimitVelocityAndAcceleration(ref Single, Single, Single, Single)

Limit velocity and acceleration

Declaration

public float LimitVelocityAndAcceleration(ref float velocity, float velocity0, float velocity1, float dt)

Parameters

Type	Name	Description
System.Single	velocity	velocity [m/s]
System.Single	velocity0	previous velocity to velocity [m/s]
System.Single	velocity1	previous velocity to velocity0 [m/s]
System.Single	dt	delta time step [s]

Returns

Type	Description
System.Single	limiting factor (1.0 if none)