LimiterContainer Class Reference

Container for limiters, implementing interface methods. More...

#include <limiter.h>

Public Member Functions
virtual KDL::Twist	enforceLimits (const KDL::Twist &v_in) const
virtual KDL::JntArray	enforceLimits (const KDL::JntArray &q_dot_ik, const KDL::JntArray &q) const
void	init ()
	LimiterContainer (const LimiterParams &limiter_params)
virtual	~LimiterContainer ()

Protected Types
typedef std::vector< const LimiterCartesianBase * >::const_iterator	input_LimIter_t
typedef std::vector< const LimiterJointBase * >::const_iterator	output_LimIter_t

Protected Member Functions
void	add (const LimiterCartesianBase *lb)
void	add (const LimiterJointBase *lb)
void	eraseAll ()

Protected Attributes
std::vector< const LimiterCartesianBase * >	input_limiters_
const LimiterParams &	limiter_params_
std::vector< const LimiterJointBase * >	output_limiters_

Detailed Description

Container for limiters, implementing interface methods.

Definition at line 29 of file limiter.h.

Member Typedef Documentation

typedef std::vector<const LimiterCartesianBase*>::const_iterator LimiterContainer::input_LimIter_t

protected

Definition at line 55 of file limiter.h.

typedef std::vector<const LimiterJointBase*>::const_iterator LimiterContainer::output_LimIter_t

protected

Definition at line 56 of file limiter.h.

Constructor & Destructor Documentation

LimiterContainer::~LimiterContainer ( )

virtual

Destruction of the whole container

Definition at line 136 of file limiter.cpp.

LimiterContainer::LimiterContainer ( const LimiterParams &  limiter_params )

inlineexplicit

Definition at line 46 of file limiter.h.

Member Function Documentation

void LimiterContainer::add ( const LimiterCartesianBase *  lb )

protected

Add method

Parameters

lb	An implementation of a limiter.

Adding new limiters to the vector.

Definition at line 124 of file limiter.cpp.

void LimiterContainer::add ( const LimiterJointBase *  lb )

protected

Definition at line 128 of file limiter.cpp.

KDL::Twist LimiterContainer::enforceLimits ( const KDL::Twist &  v_in ) const

virtual

Specific implementation of enforceLimits-method. See base class LimiterJointBase for more details on params and returns.

This implementation calls enforce limits on all registered Limiters in the respective limiters vector.

Definition at line 27 of file limiter.cpp.

KDL::JntArray LimiterContainer::enforceLimits ( const KDL::JntArray &  q_dot_ik, const KDL::JntArray &  q  ) const

virtual

Definition at line 38 of file limiter.cpp.

void LimiterContainer::eraseAll ( )

protected

Erase all

Deletes all limiters and clears the vector holding them.

Definition at line 106 of file limiter.cpp.

void LimiterContainer::init

(

)

Initialization for the container.

Building the limiters vector according the the chosen parameters.

Definition at line 53 of file limiter.cpp.

Member Data Documentation

std::vector<const LimiterCartesianBase*> LimiterContainer::input_limiters_

protected

Definition at line 53 of file limiter.h.

const LimiterParams& LimiterContainer::limiter_params_

protected

Definition at line 51 of file limiter.h.

std::vector<const LimiterJointBase*> LimiterContainer::output_limiters_

protected

Definition at line 54 of file limiter.h.

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

• limiter.h
• limiter.cpp