LimiterContainer Class Reference

Container for limiters, implementing interface methods. More...

#include <limiter.h>

List of all members.

Public Member Functions
virtual KDL::Twist	enforceLimits (const KDL::Twist &v_in) const
virtual KDL::JntArray	enforceLimits (const KDL::JntArray &q_dot_ik, const KDL::JntArray &q) const
void	init ()
	LimiterContainer (const LimiterParams &limiter_params)
virtual	~LimiterContainer ()
Protected Types
typedef std::vector< const LimiterCartesianBase * > ::const_iterator	input_LimIter_t
typedef std::vector< const LimiterJointBase * > ::const_iterator	output_LimIter_t
Protected Member Functions
void	add (const LimiterCartesianBase *lb)
void	add (const LimiterJointBase *lb)
void	eraseAll ()
Protected Attributes
std::vector< const LimiterCartesianBase * >	input_limiters_
const LimiterParams &	limiter_params_
std::vector< const LimiterJointBase * >	output_limiters_

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Detailed Description

Container for limiters, implementing interface methods.

Definition at line 29 of file limiter.h.

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Member Typedef Documentation

typedef std::vector<const LimiterCartesianBase*>::const_iterator LimiterContainer::input_LimIter_t [protected]

Definition at line 55 of file limiter.h.

typedef std::vector<const LimiterJointBase*>::const_iterator LimiterContainer::output_LimIter_t [protected]

Definition at line 56 of file limiter.h.

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Constructor & Destructor Documentation

LimiterContainer::~LimiterContainer

(

)

[virtual]

Destruction of the whole container

Definition at line 136 of file limiter.cpp.

LimiterContainer::LimiterContainer

(

const LimiterParams &

limiter_params

)

[inline, explicit]

Definition at line 46 of file limiter.h.

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Member Function Documentation

void LimiterContainer::add

(

const LimiterCartesianBase *

lb

)

[protected]

Add method

Parameters:

lb	An implementation of a limiter.

Adding new limiters to the vector.

Definition at line 124 of file limiter.cpp.

void LimiterContainer::add

(

const LimiterJointBase *

lb

)

[protected]

Definition at line 128 of file limiter.cpp.

KDL::Twist LimiterContainer::enforceLimits

(

const KDL::Twist &

v_in

)

const [virtual]

Specific implementation of enforceLimits-method. See base class LimiterJointBase for more details on params and returns.

This implementation calls enforce limits on all registered Limiters in the respective limiters vector.

Definition at line 27 of file limiter.cpp.

KDL::JntArray LimiterContainer::enforceLimits	(	const KDL::JntArray &	q_dot_ik,
		const KDL::JntArray &	q
	)		const [virtual]

Definition at line 38 of file limiter.cpp.

void LimiterContainer::eraseAll

(

)

[protected]

Erase all

Deletes all limiters and clears the vector holding them.

Definition at line 106 of file limiter.cpp.

void LimiterContainer::init

(

)

Initialization for the container.

Building the limiters vector according the the chosen parameters.

Definition at line 53 of file limiter.cpp.

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Member Data Documentation

std::vector<const LimiterCartesianBase*> LimiterContainer::input_limiters_ [protected]

Definition at line 53 of file limiter.h.

const LimiterParams& LimiterContainer::limiter_params_ [protected]

Definition at line 51 of file limiter.h.

std::vector<const LimiterJointBase*> LimiterContainer::output_limiters_ [protected]

Definition at line 54 of file limiter.h.

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

• limiter.h
• limiter.cpp