Class LimitedProxy

Defined in File limited_proxy.hpp

Class Documentation

class LimitedProxy

Public Functions

inline LimitedProxy()

void reset(double pos_act, double vel_act)

double update(double pos_des, double vel_des, double acc_des, double pos_act, double vel_act, double dt)

Public Members

double mass_

double Kd_

double Kp_

double Ki_

double Ficl_

double effort_limit_

double vel_limit_

double pos_upper_limit_

double pos_lower_limit_

double lambda_proxy_

double acc_converge_