Kinematic limits used when planning 6DOF polynomial trajectories. More...

#include <Trajectory6DOFLimits.h>

Public Attributes
double	max_xy_vel = 0.7
	Maximum XY speed in m/s. More...

double	max_xy_acc = 0.4
	Maximum XY acceleration in m/s² More...

double	max_xy_jerk = 0.1
	Maximum XY jerk in m/s³ More...

double	max_z_vel = 0.2
	Maximum Z speed in m/s. More...

double	max_z_acc = 0.2
	Maximum Z acceleration in m/s² More...

double	max_z_jerk = 0.1
	Maximum Z jerk in m/s³ More...

double	max_yaw_vel = 1.2
	Maximum yaw rate in rad/s. More...

double	max_yaw_acc = 0.8
	Maximum yaw angular acceleration in rad/s² More...

double	max_yaw_jerk = 0.4
	Maximum yaw jerk in rad/s³ More...

double	slow_down_gain = 0.0003
	Rate at which the slow-down scale factor converges toward the saturated or nominal value. More...

Detailed Description

Kinematic limits used when planning 6DOF polynomial trajectories.

Separate velocity, acceleration, and jerk budgets are provided for the XY plane, the Z axis, and the Yaw axis. The slow-down gain controls how quickly the trajectory generator adapts its timing when thrusters saturate.

Member Data Documentation

◆ max_xy_acc

double Trajectory6DOFLimits::max_xy_acc = 0.4

Maximum XY acceleration in m/s²

◆ max_xy_jerk

double Trajectory6DOFLimits::max_xy_jerk = 0.1

Maximum XY jerk in m/s³

◆ max_xy_vel

double Trajectory6DOFLimits::max_xy_vel = 0.7

Maximum XY speed in m/s.

◆ max_yaw_acc

double Trajectory6DOFLimits::max_yaw_acc = 0.8

Maximum yaw angular acceleration in rad/s²

◆ max_yaw_jerk

double Trajectory6DOFLimits::max_yaw_jerk = 0.4

Maximum yaw jerk in rad/s³

◆ max_yaw_vel

double Trajectory6DOFLimits::max_yaw_vel = 1.2

Maximum yaw rate in rad/s.

◆ max_z_acc

double Trajectory6DOFLimits::max_z_acc = 0.2

Maximum Z acceleration in m/s²

◆ max_z_jerk

double Trajectory6DOFLimits::max_z_jerk = 0.1

Maximum Z jerk in m/s³

◆ max_z_vel

double Trajectory6DOFLimits::max_z_vel = 0.2

Maximum Z speed in m/s.

◆ slow_down_gain

double Trajectory6DOFLimits::slow_down_gain = 0.0003

Rate at which the slow-down scale factor converges toward the saturated or nominal value.

At each control tick: scale(t+1) ≈ scale(t) + slow_down_gain * (saturated ? 1 : -1)

The documentation for this struct was generated from the following file:

include/trajectory/Trajectory6DOFLimits.h

Public Attributes