Class for joint velocity limiter (all scaled to keep direction), implementing interface methods. More...
#include <limiter.h>
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_ |
Class for joint velocity limiter (all scaled to keep direction), implementing interface methods.
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inlineexplicit |
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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.
Implements LimiterJointBase.
Definition at line 214 of file limiter.cpp.