Base class for joint/output limiters, defining interface methods. More...
#include <limiter_base.h>
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 LimiterParams & | limiter_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.
- Parameters:
-
q_dot_ik The calculated joint velocities vector which has to be checked for limits. q The last known joint positions.
- Returns:
- Scaled joint velocities vector.
Implemented in LimiterIndividualJointAccelerations, LimiterIndividualJointVelocities, LimiterIndividualJointPositions, LimiterAllJointAccelerations, LimiterAllJointVelocities, and LimiterAllJointPositions.
Member Data Documentation
const LimiterParams& LimiterJointBase::limiter_params_ [protected] |
Definition at line 43 of file limiter_base.h.
The documentation for this class was generated from the following file: