From 0efffbf6c81d058a487caaf127e0ef1f3ef0f5f4 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 1 Nov 2024 19:52:12 +0000
Subject: [PATCH] Readd a deprecated speed_limiter

---
 .../diff_drive_controller/speed_limiter.hpp   | 106 ++++++++++++++++++
 1 file changed, 106 insertions(+)
 create mode 100644 diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp

diff --git a/diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp b/diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp
new file mode 100644
index 0000000000..24a9c66647
--- /dev/null
+++ b/diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp
@@ -0,0 +1,106 @@
+// Copyright 2020 PAL Robotics S.L.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*
+ * Author: Enrique Fernández
+ */
+
+#ifndef DIFF_DRIVE_CONTROLLER__SPEED_LIMITER_HPP_
+#define DIFF_DRIVE_CONTROLLER__SPEED_LIMITER_HPP_
+
+// TODO(christophfroehlich) remove this file after the next release
+
+#include "control_toolbox/speed_limiter.hpp"
+
+namespace diff_drive_controller
+{
+class [[deprecated("Use control_toolbox/speed_limiter instead")]] SpeedLimiter
+{
+public:
+  /**
+   * \brief Constructor
+   * \param [in] has_velocity_limits     if true, applies velocity limits
+   * \param [in] has_acceleration_limits if true, applies acceleration limits
+   * \param [in] has_jerk_limits         if true, applies jerk limits
+   * \param [in] min_velocity Minimum velocity [m/s], usually <= 0
+   * \param [in] max_velocity Maximum velocity [m/s], usually >= 0
+   * \param [in] min_acceleration Minimum acceleration [m/s^2], usually <= 0
+   * \param [in] max_acceleration Maximum acceleration [m/s^2], usually >= 0
+   * \param [in] min_jerk Minimum jerk [m/s^3], usually <= 0
+   * \param [in] max_jerk Maximum jerk [m/s^3], usually >= 0
+   */
+  SpeedLimiter(
+    bool has_velocity_limits = false, bool has_acceleration_limits = false,
+    bool has_jerk_limits = false, double min_velocity = NAN, double max_velocity = NAN,
+    double min_acceleration = NAN, double max_acceleration = NAN, double min_jerk = NAN,
+    double max_jerk = NAN)
+  : speed_limiter_(
+      has_velocity_limits, has_acceleration_limits, has_jerk_limits, min_velocity, max_velocity,
+      min_acceleration, max_acceleration, min_jerk, max_jerk)
+  {
+  }
+
+  /**
+   * \brief Limit the velocity and acceleration
+   * \param [in, out] v  Velocity [m/s]
+   * \param [in]      v0 Previous velocity to v  [m/s]
+   * \param [in]      v1 Previous velocity to v0 [m/s]
+   * \param [in]      dt Time step [s]
+   * \return Limiting factor (1.0 if none)
+   */
+  double limit(double & v, double v0, double v1, double dt)
+  {
+    return speed_limiter_.limit(v, v0, v1, dt);
+  }
+
+  /**
+   * \brief Limit the velocity
+   * \param [in, out] v Velocity [m/s]
+   * \return Limiting factor (1.0 if none)
+   */
+  double limit_velocity(double & v) { return speed_limiter_.limit_velocity(v); }
+
+  /**
+   * \brief Limit the acceleration
+   * \param [in, out] v  Velocity [m/s]
+   * \param [in]      v0 Previous velocity [m/s]
+   * \param [in]      dt Time step [s]
+   * \return Limiting factor (1.0 if none)
+   */
+  double limit_acceleration(double & v, double v0, double dt)
+  {
+    return speed_limiter_.limit_acceleration(v, v0, dt);
+  }
+
+  /**
+   * \brief Limit the jerk
+   * \param [in, out] v  Velocity [m/s]
+   * \param [in]      v0 Previous velocity to v  [m/s]
+   * \param [in]      v1 Previous velocity to v0 [m/s]
+   * \param [in]      dt Time step [s]
+   * \return Limiting factor (1.0 if none)
+   * \see http://en.wikipedia.org/wiki/Jerk_%28physics%29#Motion_control
+   */
+  double limit_jerk(double & v, double v0, double v1, double dt)
+  {
+    return speed_limiter_.limit_jerk(v, v0, v1, dt);
+  }
+
+private:
+  control_toolbox::SpeedLimiter speed_limiter_;  // Instance of the new SpeedLimiter
+};
+
+}  // namespace diff_drive_controller
+
+#endif  // DIFF_DRIVE_CONTROLLER__SPEED_LIMITER_HPP_