Struct Limits 

pub struct Limits { /* private fields */ }

Bounds a robot’s speed and acceleration so commands stay within what the machine can do safely.

A raw command can be too fast or too sudden: a full-speed setpoint snaps the wheels, a hard reverse strips traction. Limits caps the planar speed and yaw rate, then eases each toward the capped target at a bounded acceleration, so motion is smooth and within envelope. The easing reuses Ramp as its slew-rate limiter, with the step set to accel * dt each update.

Examples

use pamoja_kit::{Limits, Twist};

// Up to 1 m/s and 2 rad/s, easing on at 0.5 m/s^2 and 4 rad/s^2.
let mut limits = Limits::new(1.0, 2.0, 0.5, 4.0);

// Asking for full speed from rest: the first 0.1 s step is acceleration-limited.
let cmd = limits.apply(Twist::planar(1.0, 0.0), 0.1);
assert!((cmd.vx - 0.05).abs() < 1e-6); // 0.5 m/s^2 * 0.1 s

Implementations

impl Limits

pub fn new( max_linear: f32, max_angular: f32, max_linear_accel: f32, max_angular_accel: f32, ) -> Self

Creates limits from the speed and acceleration ceilings.

Arguments

• max_linear - the largest planar speed; its magnitude is used.
• max_angular - the largest yaw rate; its magnitude is used.
• max_linear_accel - the largest change in linear speed per second; its magnitude is used.
• max_angular_accel - the largest change in yaw rate per second; its magnitude is used.

Returns

Limits starting from rest.

pub fn reset(&mut self)

Resets the remembered motion to rest, so the next command eases up from zero.

pub fn apply(&mut self, desired: Twist, dt: f32) -> Twist

Bounds a desired command in speed and acceleration and returns the safe command.

Arguments

• desired - the requested body motion.
• dt - the time since the previous call, setting the acceleration step.

Returns

The command after capping speed and easing toward it within the acceleration limit.

Trait Implementations

impl Clone for Limits

fn clone(&self) -> Limits

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for Limits

impl Debug for Limits

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.