Class for joint velocity limiter (individually scaled -> changes direction), implementing interface methods. More...
#include <limiter.h>
Inheritance diagram for LimiterIndividualJointVelocities:
Public Member Functions | |
| virtual KDL::JntArray | enforceLimits (const KDL::JntArray &q_dot_ik, const KDL::JntArray &q) const |
| LimiterIndividualJointVelocities (const LimiterParams &limiter_params) | |
Detailed Description
Class for joint velocity limiter (individually scaled -> changes direction), implementing interface methods.
Constructor & Destructor Documentation
| LimiterIndividualJointVelocities::LimiterIndividualJointVelocities | ( | const LimiterParams & | limiter_params | ) | [inline, explicit] |
Member Function Documentation
| KDL::JntArray LimiterIndividualJointVelocities::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 velocities without keeping the direction. For each joint velocity in the vector an individual factor for scaling is calculated and used.
Implements LimiterJointBase.
Definition at line 341 of file limiter.cpp.
The documentation for this class was generated from the following files: