Line data    Source code

       1             : #ifndef CONTROLS_TRAJECTORY_TRAJECTORY_6DOF_LIMITS_H
       2             : #define CONTROLS_TRAJECTORY_TRAJECTORY_6DOF_LIMITS_H
       3             : 
       4             : /**
       5             :  * @brief Kinematic limits used when planning 6DOF polynomial trajectories
       6             :  *
       7             :  * Separate velocity, acceleration, and jerk budgets are provided for the
       8             :  * XY plane, the Z axis, and the Yaw axis.  The slow-down gain controls how
       9             :  * quickly the trajectory generator adapts its timing when thrusters saturate.
      10             :  */
      11           1 : struct Trajectory6DOFLimits {
      12             :     /** @brief Maximum XY speed in m/s */
      13             :     double max_xy_vel = 0.7;
      14             : 
      15             :     /** @brief Maximum XY acceleration in m/s² */
      16             :     double max_xy_acc = 0.4;
      17             : 
      18             :     /** @brief Maximum XY jerk in m/s³ */
      19             :     double max_xy_jerk = 0.1;
      20             : 
      21             :     /** @brief Maximum Z speed in m/s */
      22             :     double max_z_vel = 0.2;
      23             : 
      24             :     /** @brief Maximum Z acceleration in m/s² */
      25             :     double max_z_acc = 0.2;
      26             : 
      27             :     /** @brief Maximum Z jerk in m/s³ */
      28             :     double max_z_jerk = 0.1;
      29             : 
      30             :     /** @brief Maximum yaw rate in rad/s */
      31             :     double max_yaw_vel = 1.2;
      32             : 
      33             :     /** @brief Maximum yaw angular acceleration in rad/s² */
      34             :     double max_yaw_acc = 0.8;
      35             : 
      36             :     /** @brief Maximum yaw jerk in rad/s³ */
      37             :     double max_yaw_jerk = 0.4;
      38             : 
      39             :     /**
      40             :      * @brief Rate at which the slow-down scale factor converges toward the saturated or nominal value
      41             :      *
      42             :      * At each control tick: scale(t+1) ≈ scale(t) + slow_down_gain * (saturated ? 1 : -1)
      43             :      */
      44             :     double slow_down_gain = 0.0003;
      45             : };
      46             : 
      47             : #endif  // CONTROLS_TRAJECTORY_TRAJECTORY_6DOF_LIMITS_H