LimiterIndividualJointVelocities Class Reference

Class for joint velocity limiter (individually scaled -> changes direction), implementing interface methods. More...

#include <limiter.h>

Inheritance diagram for LimiterIndividualJointVelocities:

Public Member Functions
virtual KDL::JntArray	enforceLimits (const KDL::JntArray &q_dot_ik, const KDL::JntArray &q) const
	LimiterIndividualJointVelocities (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 (individually scaled -> changes direction), implementing interface methods.

Definition at line 159 of file limiter.h.

Constructor & Destructor Documentation

LimiterIndividualJointVelocities::LimiterIndividualJointVelocities ( const LimiterParams &  limiter_params )

inlineexplicit

Definition at line 168 of file limiter.h.

Member Function Documentation

KDL::JntArray LimiterIndividualJointVelocities::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 velocities without keeping the direction. For each joint velocity in the vector an individual factor for scaling is calculated and used.

Implements LimiterJointBase.

Definition at line 341 of file limiter.cpp.

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

• limiter.h
• limiter.cpp