Class for joint velocity limiter (all scaled to keep direction), implementing interface methods. More...

#include <limiter.h>

Inheritance diagram for LimiterAllJointVelocities:

Public Member Functions
virtual KDL::JntArray	enforceLimits (const KDL::JntArray &q_dot_ik, const KDL::JntArray &q) const

	LimiterAllJointVelocities (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 joint velocity limiter (all scaled to keep direction), implementing interface methods.

Definition at line 91 of file limiter.h.

Constructor & Destructor Documentation

LimiterAllJointVelocities::LimiterAllJointVelocities ( const LimiterParams & limiter_params )

inlineexplicit

Definition at line 100 of file limiter.h.

KDL::JntArray LimiterAllJointVelocities::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.

Enforce limits on all joint velocities to keep direction. Limits all velocities according to the limits_vel vector if necessary.

Definition at line 214 of file limiter.cpp.

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