Filter control vector to avoid exceeding joint maximum values. More...
#include <joint-limitator.hh>
Inheritance diagram for dynamicgraph::sot::JointLimitator:
Public Member Functions | |
| virtual dynamicgraph::Vector & | computeControl (dynamicgraph::Vector &res, sigtime_t time) |
| dynamicgraph::Vector & | computeWidthJl (dynamicgraph::Vector &res, const sigtime_t &time) |
| virtual void | display (std::ostream &os) const |
| JointLimitator (const std::string &name) | |
| virtual | ~JointLimitator () |
 Public Member Functions inherited from dynamicgraph::Entity | |
| std::ostream & | displaySignalList (std::ostream &os) const |
| Entity (const std::string &name) | |
| virtual const std::string & | getClassName () const |
| const std::string & | getCommandList () const |
| virtual std::string | getDocString () const |
| LoggerVerbosity | getLoggerVerbosityLevel () |
| LoggerVerbosity | getLoggerVerbosityLevel () |
| const std::string & | getName () const |
| command::Command * | getNewStyleCommand (const std::string &cmdName) |
| CommandMap_t | getNewStyleCommandMap () |
| SignalBase< sigtime_t > & | getSignal (const std::string &signalName) |
| const SignalBase< sigtime_t > & | getSignal (const std::string &signalName) const |
| SignalMap | getSignalMap () const |
| double | getStreamPrintPeriod () |
| double | getStreamPrintPeriod () |
| double | getTimeSample () |
| double | getTimeSample () |
| bool | hasSignal (const std::string &signame) const |
| Logger & | logger () |
| Logger & | logger () |
| const Logger & | logger () const |
| const Logger & | logger () const |
| void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="") |
| void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="") |
| void | setLoggerVerbosityLevel (LoggerVerbosity lv) |
| void | setLoggerVerbosityLevel (LoggerVerbosity lv) |
| bool | setStreamPrintPeriod (double t) |
| bool | setStreamPrintPeriod (double t) |
| bool | setTimeSample (double t) |
| bool | setTimeSample (double t) |
| virtual SignalBase< sigtime_t > * | test () |
| virtual void | test2 (SignalBase< sigtime_t > *) |
| virtual std::ostream & | writeCompletionList (std::ostream &os) const |
| virtual std::ostream & | writeGraph (std::ostream &os) const |
| virtual | ~Entity () |
Private Member Functions | |
| DYNAMIC_GRAPH_ENTITY_DECL () | |
Additional Inherited Members | |
| Public Types inherited from dynamicgraph::Entity | |
| typedef std::map< const std::string, command::Command * > | CommandMap_t |
| typedef std::map< std::string, SignalBase< sigtime_t > * > | SignalMap |
| Protected Member Functions inherited from dynamicgraph::Entity | |
| void | addCommand (const std::string &name, command::Command *command) |
| void | entityDeregistration () |
| void | entityRegistration () |
| void | signalDeregistration (const std::string &name) |
| void | signalRegistration (const SignalArray< sigtime_t > &signals) |
| Protected Attributes inherited from dynamicgraph::Entity | |
| CommandMap_t | commandMap |
| Logger | logger_ |
| std::string | name |
| SignalMap | signalMap |
Detailed Description
Filter control vector to avoid exceeding joint maximum values.
This must be plugged between the entity producing the command (i.e. usually the sot) and the entity executing it (the device).
Definition at line 38 of file joint-limitator.hh.
Constructor & Destructor Documentation
◆ JointLimitator()
| JointLimitator::JointLimitator | ( | const std::string & | name | ) |
Definition at line 22 of file joint-limitator.cpp.
◆ ~JointLimitator()
|
inlinevirtual |
Definition at line 43 of file joint-limitator.hh.
Member Function Documentation
◆ computeControl()
|
virtual |
Definition at line 58 of file joint-limitator.cpp.
◆ computeWidthJl()
| dynamicgraph::Vector & JointLimitator::computeWidthJl | ( | dynamicgraph::Vector & | res, |
| const sigtime_t & | time | ||
| ) |
Definition at line 41 of file joint-limitator.cpp.
◆ display()
|
virtual |
Reimplemented from dynamicgraph::Entity.
Definition at line 88 of file joint-limitator.cpp.
◆ DYNAMIC_GRAPH_ENTITY_DECL()
|
private |
Member Data Documentation
◆ controlSIN
| dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::JointLimitator::controlSIN |
Definition at line 57 of file joint-limitator.hh.
◆ controlSOUT
| dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::JointLimitator::controlSOUT |
Definition at line 59 of file joint-limitator.hh.
◆ jointSIN
| dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::JointLimitator::jointSIN |
Definition at line 54 of file joint-limitator.hh.
◆ lowerJlSIN
| dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::JointLimitator::lowerJlSIN |
Definition at line 56 of file joint-limitator.hh.
◆ upperJlSIN
| dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::JointLimitator::upperJlSIN |
Definition at line 55 of file joint-limitator.hh.
◆ widthJlSINTERN
| dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::JointLimitator::widthJlSINTERN |
Definition at line 61 of file joint-limitator.hh.
The documentation for this class was generated from the following files: