Class for limiting the cartesian velocities commands in order to guarantee a BIBO system (individually scaled -> changes direction). More...

#include <limiter.h>

Inheritance diagram for LimiterIndividualCartesianVelocities:

Public Member Functions
virtual KDL::Twist	enforceLimits (const KDL::Twist &v_in) const

	LimiterIndividualCartesianVelocities (const LimiterParams &limiter_params)

Public Member Functions inherited from LimiterCartesianBase
	LimiterCartesianBase (const LimiterParams &limiter_params)

virtual	~LimiterCartesianBase ()

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

Detailed Description

Class for limiting the cartesian velocities commands in order to guarantee a BIBO system (individually scaled -> changes direction).

Definition at line 193 of file limiter.h.

Constructor & Destructor Documentation

LimiterIndividualCartesianVelocities::LimiterIndividualCartesianVelocities ( const LimiterParams & limiter_params )

inlineexplicit

Definition at line 202 of file limiter.h.

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

virtual

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

This implementation implements a saturation function to the Cartesian twists. Each Cartesian velocity is limited individually.

Definition at line 379 of file limiter.cpp.

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