Public Member Functions | Protected Attributes | List of all members
LimiterCartesianBase Class Referenceabstract

Base class for cartesian/input limiters, defining interface methods. More...

#include <limiter_base.h>

Inheritance diagram for LimiterCartesianBase:
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Public Member Functions

virtual KDL::Twist enforceLimits (const KDL::Twist &v_in) const =0
 
 LimiterCartesianBase (const LimiterParams &limiter_params)
 
virtual ~LimiterCartesianBase ()
 

Protected Attributes

const LimiterParamslimiter_params_
 

Detailed Description

Base class for cartesian/input limiters, defining interface methods.

Definition at line 48 of file limiter_base.h.

Constructor & Destructor Documentation

LimiterCartesianBase::LimiterCartesianBase ( const LimiterParams limiter_params)
inlineexplicit

Definition at line 51 of file limiter_base.h.

virtual LimiterCartesianBase::~LimiterCartesianBase ( )
inlinevirtual

Definition at line 54 of file limiter_base.h.

Member Function Documentation

virtual KDL::Twist LimiterCartesianBase::enforceLimits ( const KDL::Twist v_in) const
pure virtual

Pure virtual method to mark as interface method which has to be implemented in inherited classes. The intention is to implement a method which enforces limits to the Cartesian twist vector according to the output of the Cartesian controller.

Parameters
v_inare the generated Cartesian twist velocities.
Returns
Scaled Cartesian twist vector.

Implemented in LimiterIndividualCartesianVelocities, and LimiterAllCartesianVelocities.

Member Data Documentation

const LimiterParams& LimiterCartesianBase::limiter_params_
protected

Definition at line 66 of file limiter_base.h.


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


cob_twist_controller
Author(s): Felix Messmer , Marco Bezzon , Christoph Mark , Francisco Moreno
autogenerated on Thu Apr 8 2021 02:40:01