Trajectory6DOFLimits.h

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#ifndef CONTROLS_TRAJECTORY_TRAJECTORY_6DOF_LIMITS_H
#define CONTROLS_TRAJECTORY_TRAJECTORY_6DOF_LIMITS_H
 
struct Trajectory6DOFLimits {
    double max_xy_vel = 0.7;
 
    double max_xy_acc = 0.4;
 
    double max_xy_jerk = 0.1;
 
    double max_z_vel = 0.2;
 
    double max_z_acc = 0.2;
 
    double max_z_jerk = 0.1;
 
    double max_yaw_vel = 1.2;
 
    double max_yaw_acc = 0.8;
 
    double max_yaw_jerk = 0.4;
 
    double slow_down_gain = 0.0003;
};
 
#endif  // CONTROLS_TRAJECTORY_TRAJECTORY_6DOF_LIMITS_H