Public Member Functions | Protected Attributes
LimiterCartesianBase Class Reference

Base class for cartesian/input limiters, defining interface methods. More...

#include <limiter_base.h>

Inheritance diagram for LimiterCartesianBase:
Inheritance graph

List of all members.

Public Member Functions

virtual KDL::Twist enforceLimits (const KDL::Twist &v_in) const =0
 LimiterCartesianBase (const LimiterParams &limiter_params)
virtual ~LimiterCartesianBase ()

Protected Attributes

const LimiterParamslimiter_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.

v_inare the generated Cartesian twist velocities.
Scaled Cartesian twist vector.

Implemented in LimiterIndividualCartesianVelocities, and LimiterAllCartesianVelocities.

Member Data Documentation

Definition at line 66 of file limiter_base.h.

The documentation for this class was generated from the following file:

Author(s): Felix Messmer , Marco Bezzon , Christoph Mark , Francisco Moreno
autogenerated on Thu Jun 6 2019 21:19:26