velocity_config.hpp

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#pragma once
 
struct VelocityPlanningConfig {
  double minimum_velocity_;
 
  double desired_velocity_;
 
  double braking_acceleration_;
 
  double acceleration_;
 
  double lateral_acceleration_;
 
  double longitudinal_acceleration_;
 
  bool use_velocity_planning_;
 
  VelocityPlanningConfig()
      : minimum_velocity_(3.0),
        desired_velocity_(5.0),
        braking_acceleration_(-4.0),
        acceleration_(7.0),
        lateral_acceleration_(7.0),
        longitudinal_acceleration_(7.0),
        use_velocity_planning_(true) {}
 
  VelocityPlanningConfig(double minimum_velocity, double desired_velocity,
                         double braking_acceleration, double acceleration,
                         double lateral_acceleration, double longitudinal_acceleration,
                         bool use_velocity_planning)
      : minimum_velocity_(minimum_velocity),
        desired_velocity_(desired_velocity),
        braking_acceleration_(braking_acceleration),
        acceleration_(acceleration),
        lateral_acceleration_(lateral_acceleration),
        longitudinal_acceleration_(longitudinal_acceleration),
        use_velocity_planning_(use_velocity_planning) {}
};