LimiterIndividualJointPositions Class Reference

Class for a limiter, declaring a method to limit joint positions individually. More...

#include <limiter.h>

Inheritance diagram for LimiterIndividualJointPositions:

Public Member Functions
virtual KDL::JntArray	enforceLimits (const KDL::JntArray &q_dot_ik, const KDL::JntArray &q) const
	LimiterIndividualJointPositions (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 a limiter, declaring a method to limit joint positions individually.

Definition at line 142 of file limiter.h.

Constructor & Destructor Documentation

LimiterIndividualJointPositions::LimiterIndividualJointPositions ( const LimiterParams &  limiter_params )

inlineexplicit

Definition at line 151 of file limiter.h.

Member Function Documentation

KDL::JntArray LimiterIndividualJointPositions::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.

This implementation calculates limits for the joint positions without keeping the direction. Then for each corresponding joint velocity an individual factor for scaling is calculated and then used.

Implements LimiterJointBase.

Definition at line 295 of file limiter.cpp.

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

• limiter.h
• limiter.cpp