Class for joint velocity limiter (all scaled to keep direction), implementing interface methods. More...
#include <limiter.h>
Inheritance diagram for LimiterAllJointVelocities:
Public Member Functions | |
| virtual KDL::JntArray | enforceLimits (const KDL::JntArray &q_dot_ik, const KDL::JntArray &q) const |
| LimiterAllJointVelocities (const LimiterParams &limiter_params) | |
Detailed Description
Class for joint velocity limiter (all scaled to keep direction), implementing interface methods.
Constructor & Destructor Documentation
| LimiterAllJointVelocities::LimiterAllJointVelocities | ( | const LimiterParams & | limiter_params | ) | [inline, explicit] |
Member Function Documentation
| KDL::JntArray LimiterAllJointVelocities::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 to keep direction. Limits all velocities according to the limits_vel vector if necessary.
Implements LimiterJointBase.
Definition at line 214 of file limiter.cpp.
The documentation for this class was generated from the following files: