Public Member Functions | List of all members
LimiterIndividualCartesianVelocities Class Reference

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:
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Public Member Functions

virtual KDL::Twist enforceLimits (const KDL::Twist &v_in) const
 
 LimiterIndividualCartesianVelocities (const LimiterParams &limiter_params)
 
- Public Member Functions inherited from LimiterCartesianBase
 LimiterCartesianBase (const LimiterParams &limiter_params)
 
virtual ~LimiterCartesianBase ()
 

Additional Inherited Members

- Protected Attributes inherited from LimiterCartesianBase
const LimiterParamslimiter_params_
 

Detailed Description

Class for limiting the cartesian velocities commands in order to guarantee a BIBO system (individually scaled -> changes direction).

Definition at line 193 of file limiter.h.

Constructor & Destructor Documentation

LimiterIndividualCartesianVelocities::LimiterIndividualCartesianVelocities ( const LimiterParams limiter_params)
inlineexplicit

Definition at line 202 of file limiter.h.

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:


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