Class for limiting the cartesian velocities commands in order to guarantee a BIBO system (individually scaled -> changes direction). More...
#include <limiter.h>
Inheritance diagram for LimiterIndividualCartesianVelocities:
Public Member Functions | |
| virtual KDL::Twist | enforceLimits (const KDL::Twist &v_in) const |
| LimiterIndividualCartesianVelocities (const LimiterParams &limiter_params) | |
Detailed Description
Class for limiting the cartesian velocities commands in order to guarantee a BIBO system (individually scaled -> changes direction).
Constructor & Destructor Documentation
| LimiterIndividualCartesianVelocities::LimiterIndividualCartesianVelocities | ( | const LimiterParams & | limiter_params | ) | [inline, explicit] |
Member Function Documentation
| KDL::Twist LimiterIndividualCartesianVelocities::enforceLimits | ( | const KDL::Twist & | v_in | ) | const [virtual] |
Specific implementation of enforceLimits-method. See base class LimiterCartesianBase for more details on params and returns.
This implementation implements a saturation function to the Cartesian twists. Each Cartesian velocity is limited individually.
Implements LimiterCartesianBase.
Definition at line 379 of file limiter.cpp.
The documentation for this class was generated from the following files: