Class for a limiter, declaring a method to limit joint positions individually. More...
#include <limiter.h>
Inheritance diagram for LimiterIndividualJointPositions:
Public Member Functions | |
| virtual KDL::JntArray | enforceLimits (const KDL::JntArray &q_dot_ik, const KDL::JntArray &q) const |
| LimiterIndividualJointPositions (const LimiterParams &limiter_params) | |
Detailed Description
Class for a limiter, declaring a method to limit joint positions individually.
Constructor & Destructor Documentation
| LimiterIndividualJointPositions::LimiterIndividualJointPositions | ( | const LimiterParams & | limiter_params | ) | [inline, explicit] |
Member Function Documentation
| KDL::JntArray LimiterIndividualJointPositions::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.
This implementation calculates limits for the joint positions without keeping the direction. Then for each corresponding joint velocity an individual factor for scaling is calculated and then used.
Implements LimiterJointBase.
Definition at line 295 of file limiter.cpp.
The documentation for this class was generated from the following files: