LimiterAllJointAccelerations Class Reference

Class for joint acceleration limiter (all scaled to keep direction), implementing interface methods. More...

#include <limiter.h>

Inheritance diagram for LimiterAllJointAccelerations:

Public Member Functions
virtual KDL::JntArray	enforceLimits (const KDL::JntArray &q_dot_ik, const KDL::JntArray &q) const
	LimiterAllJointAccelerations (const LimiterParams &limiter_params)
Public Member Functions inherited from LimiterJointBase
	LimiterJointBase (const LimiterParams &limiter_params)
virtual	~LimiterJointBase ()

Additional Inherited Members
Protected Attributes inherited from LimiterJointBase
const LimiterParams &	limiter_params_

Detailed Description

Class for joint acceleration limiter (all scaled to keep direction), implementing interface methods.

Definition at line 108 of file limiter.h.

Constructor & Destructor Documentation

LimiterAllJointAccelerations::LimiterAllJointAccelerations ( const LimiterParams &  limiter_params )

inlineexplicit

Definition at line 117 of file limiter.h.

Member Function Documentation

KDL::JntArray LimiterAllJointAccelerations::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.

Enforce limits on all joint velocities based on acceleration limits to keep direction. Limits all velocities according to the limits_acc vector if necessary.

Implements LimiterJointBase.

Definition at line 247 of file limiter.cpp.

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

• limiter.h
• limiter.cpp