Public Member Functions | Protected Attributes
LimiterJointBase Class Reference

Base class for joint/output limiters, defining interface methods. More...

#include <limiter_base.h>

Inheritance diagram for LimiterJointBase:
Inheritance graph

List of all members.

Public Member Functions

virtual KDL::JntArray enforceLimits (const KDL::JntArray &q_dot_ik, const KDL::JntArray &q) const =0
 LimiterJointBase (const LimiterParams &limiter_params)
virtual ~LimiterJointBase ()

Protected Attributes

const LimiterParamslimiter_params_

Detailed Description

Base class for joint/output limiters, defining interface methods.

Definition at line 24 of file limiter_base.h.

Constructor & Destructor Documentation

LimiterJointBase::LimiterJointBase ( const LimiterParams limiter_params) [inline, explicit]

Definition at line 27 of file limiter_base.h.

virtual LimiterJointBase::~LimiterJointBase ( ) [inline, virtual]

Definition at line 30 of file limiter_base.h.

Member Function Documentation

virtual KDL::JntArray LimiterJointBase::enforceLimits ( const KDL::JntArray q_dot_ik,
const KDL::JntArray q 
) 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 q_dot_out vector according to the calculated joint velocities and / or joint positions.

q_dot_ikThe calculated joint velocities vector which has to be checked for limits.
qThe last known joint positions.
Scaled joint velocities vector.

Implemented in LimiterIndividualJointAccelerations, LimiterIndividualJointVelocities, LimiterIndividualJointPositions, LimiterAllJointAccelerations, LimiterAllJointVelocities, and LimiterAllJointPositions.

Member Data Documentation

Definition at line 43 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