LimiterCartesianBase Class Reference

Base class for cartesian/input limiters, defining interface methods. More...

#include <limiter_base.h>

Inheritance diagram for LimiterCartesianBase:

Public Member Functions
virtual KDL::Twist	enforceLimits (const KDL::Twist &v_in) const =0
	LimiterCartesianBase (const LimiterParams &limiter_params)
virtual	~LimiterCartesianBase ()

Protected Attributes
const LimiterParams &	limiter_params_

Detailed Description

Base class for cartesian/input limiters, defining interface methods.

Definition at line 48 of file limiter_base.h.

Constructor & Destructor Documentation

LimiterCartesianBase::LimiterCartesianBase ( const LimiterParams &  limiter_params )

inlineexplicit

Definition at line 51 of file limiter_base.h.

virtual LimiterCartesianBase::~LimiterCartesianBase ( )

inlinevirtual

Definition at line 54 of file limiter_base.h.

Member Function Documentation

virtual KDL::Twist LimiterCartesianBase::enforceLimits ( const KDL::Twist &  v_in ) 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 Cartesian twist vector according to the output of the Cartesian controller.

Parameters

v_in	are the generated Cartesian twist velocities.

Returns

Scaled Cartesian twist vector.

Implemented in LimiterIndividualCartesianVelocities, and LimiterAllCartesianVelocities.

Member Data Documentation

const LimiterParams& LimiterCartesianBase::limiter_params_

protected

Definition at line 66 of file limiter_base.h.

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

• limiter_base.h