Base class for cartesian/input limiters, defining interface methods. More...
#include <limiter_base.h>
Inheritance diagram for LimiterCartesianBase:
Public Member Functions | |
| virtual KDL::Twist | enforceLimits (const KDL::Twist &v_in) const =0 |
| LimiterCartesianBase (const LimiterParams &limiter_params) | |
| virtual | ~LimiterCartesianBase () |
Protected Attributes | |
| const LimiterParams & | limiter_params_ |
Detailed Description
Base class for cartesian/input limiters, defining interface methods.
Definition at line 48 of file limiter_base.h.
Constructor & Destructor Documentation
| LimiterCartesianBase::LimiterCartesianBase | ( | const LimiterParams & | limiter_params | ) | [inline, explicit] |
Definition at line 51 of file limiter_base.h.
| virtual LimiterCartesianBase::~LimiterCartesianBase | ( | ) | [inline, virtual] |
Definition at line 54 of file limiter_base.h.
Member Function Documentation
| virtual KDL::Twist LimiterCartesianBase::enforceLimits | ( | const KDL::Twist & | v_in | ) | const [pure virtual] |
Pure virtual method to mark as interface method which has to be implemented in inherited classes. The intention is to implement a method which enforces limits to the Cartesian twist vector according to the output of the Cartesian controller.
- Parameters:
-
v_in are the generated Cartesian twist velocities.
- Returns:
- Scaled Cartesian twist vector.
Implemented in LimiterIndividualCartesianVelocities, and LimiterAllCartesianVelocities.
Member Data Documentation
const LimiterParams& LimiterCartesianBase::limiter_params_ [protected] |
Definition at line 66 of file limiter_base.h.
The documentation for this class was generated from the following file: