Struct SpeedProfileParameters

Struct Documentation

struct SpeedProfileParameters

Parameters for the online speed profile generator (tunable via YAML).

Public Members

float a_lat_max_

Max lateral acceleration [m/s²]. v_curve = sqrt(a_lat_max / k).

float v_min_

Minimum allowed speed in curves [m/s].

float max_accel_

Max longitudinal acceleration for rate limiter [m/s²].

float max_decel_

Max longitudinal deceleration for rate limiter [m/s²].

float preview_time_

Look-ahead horizon [s]: preview_dist = speed * preview_time.

float preview_dist_min_

Minimum look-ahead distance regardless of speed [m].

int curvature_triangle_step_

Raceline index stride between triangle vertices.

float k_noise_guard_

Curvature threshold below which reading is treated as straight [1/m].

float speed_deadband_

Snap to v_max when within this margin, to avoid jitter [m/s].

float max_speed_

Maximum speed for the vehicle (m/s).