pyrobosim.core.dynamics.RobotDynamics2D.enforce_dynamics_limits

RobotDynamics2D.enforce_dynamics_limits(cmd_vel, dt)

Enforces velocity and acceleration limits by saturating a velocity command.

Parameters:

• cmd_vel (numpy.array) – Velocity command array, in the form [vx, vy, vtheta].

• dt (float) – Time step, in seconds.

Returns:

The saturated velocity command array.

Return type:

numpy.array