Drake
calc_smooth_acceleration.h
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1 #pragma once
2 
3 namespace drake {
4 namespace automotive {
5 
6 /// Computes and returns an acceleration command that results in a smooth
7 /// acceleration profile. It is smooth in the sense that it looks pleasant and
8 /// realistic, though it may not reflect the actual acceleration behavior of
9 /// real vehicles.
10 ///
11 /// For a given acceleration plan, all of the input parameters typically remain
12 /// constant except for @p current_velocity.
13 ///
14 /// Instantiated templates for the following ScalarTypes are provided:
15 /// - double
16 /// - drake::AutoDiffXd
17 /// - drake::symbolic::Expression
18 ///
19 /// They are already available to link against in the containing library.
20 template <typename T>
21 T calc_smooth_acceleration(const T& desired_acceleration, const T& max_velocity,
22  const T& velocity_limit_kp, const T& current_velocity);
23 
24 } // namespace automotive
25 } // namespace drake
Definition: automotive_demo.cc:88
T calc_smooth_acceleration(const T &desired_acceleration, const T &max_velocity, const T &velocity_limit_kp, const T &current_velocity)
Computes and returns an acceleration command that results in a smooth acceleration profile...
Definition: calc_smooth_acceleration.cc:16