Add acceleration limits to DriveOnHeading and BackUp behaviors (backport #4810) #4875
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* Add acceleration constraints Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Cleanup code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Format code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add <limits> header to drive_on_heading.hpp Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove vel pointer Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Use the limits only if both of them is set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix onActionCompletion params Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add default acc params and change decel sign Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add minimum speed parameter Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Update minimum speed parameter to 0.10 Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Log warning when acceleration or deceleration limits are not set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add param sign assert Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove unnecessary param checking Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Refactor acceleration limits to handle forward and backward movement separately Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix sign checking condition Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Replace throwing with silent sign correction Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> (cherry picked from commit 2ee3cef)
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Basic Info
Description of contribution in a few bullet points
Added two params:
acceleration_limitanddeceleration_limitfor DriveOnHeading and BackUp behaviors.Description of documentation updates required from your changes
Added new parameter, so need to add that to default configs and documentation page
Future work that may be required in bullet points
For Maintainers:
This is an automatic backport of pull request #4810 done by [Mergify](https://mergify.com).