Class for joint acceleration limiter (all scaled to keep direction), implementing interface methods. More...
#include <limiter.h>
Inheritance diagram for LimiterAllJointAccelerations:
Public Member Functions | |
| virtual KDL::JntArray | enforceLimits (const KDL::JntArray &q_dot_ik, const KDL::JntArray &q) const |
| LimiterAllJointAccelerations (const LimiterParams &limiter_params) | |
Detailed Description
Class for joint acceleration limiter (all scaled to keep direction), implementing interface methods.
Constructor & Destructor Documentation
| LimiterAllJointAccelerations::LimiterAllJointAccelerations | ( | const LimiterParams & | limiter_params | ) | [inline, explicit] |
Member Function Documentation
| KDL::JntArray LimiterAllJointAccelerations::enforceLimits | ( | const KDL::JntArray & | q_dot_ik, |
| const KDL::JntArray & | q | ||
| ) | const [virtual] |
Specific implementation of enforceLimits-method. See base class LimiterJointBase for more details on params and returns.
Enforce limits on all joint velocities based on acceleration limits to keep direction. Limits all velocities according to the limits_acc vector if necessary.
Implements LimiterJointBase.
Definition at line 247 of file limiter.cpp.
The documentation for this class was generated from the following files: