LimiterIndividualJointAccelerations Class Reference

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

#include <limiter.h>

Inheritance diagram for LimiterIndividualJointAccelerations:

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

Definition at line 176 of file limiter.h.

Constructor & Destructor Documentation

LimiterIndividualJointAccelerations::LimiterIndividualJointAccelerations ( const LimiterParams &  limiter_params )

inlineexplicit

Definition at line 185 of file limiter.h.

Member Function Documentation

KDL::JntArray LimiterIndividualJointAccelerations::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 scales velocities based on given limits for joint accelerations 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 364 of file limiter.cpp.

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

• limiter.h
• limiter.cpp