LimiterJointBase Class Reference

Base class for joint/output limiters, defining interface methods. More...

#include <limiter_base.h>

Inheritance diagram for LimiterJointBase:

Public Member Functions
virtual KDL::JntArray	enforceLimits (const KDL::JntArray &q_dot_ik, const KDL::JntArray &q) const =0
	LimiterJointBase (const LimiterParams &limiter_params)
virtual	~LimiterJointBase ()

Protected Attributes
const LimiterParams &	limiter_params_

Detailed Description

Base class for joint/output limiters, defining interface methods.

Definition at line 24 of file limiter_base.h.

Constructor & Destructor Documentation

LimiterJointBase::LimiterJointBase ( const LimiterParams &  limiter_params )

inlineexplicit

Definition at line 27 of file limiter_base.h.

virtual LimiterJointBase::~LimiterJointBase ( )

inlinevirtual

Definition at line 30 of file limiter_base.h.

Member Function Documentation

virtual KDL::JntArray LimiterJointBase::enforceLimits ( const KDL::JntArray &  q_dot_ik, const KDL::JntArray &  q  ) const

pure virtual

Pure virtual method to mark as interface method which has to be implemented in inherited classes. The intention is to implement a method which enforces limits to the q_dot_out vector according to the calculated joint velocities and / or joint positions.

Parameters

q_dot_ik	The calculated joint velocities vector which has to be checked for limits.
q	The last known joint positions.

Returns

Scaled joint velocities vector.

Implemented in LimiterIndividualJointAccelerations, LimiterIndividualJointVelocities, LimiterIndividualJointPositions, LimiterAllJointAccelerations, LimiterAllJointVelocities, and LimiterAllJointPositions.

Member Data Documentation

const LimiterParams& LimiterJointBase::limiter_params_

protected

Definition at line 43 of file limiter_base.h.

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

• limiter_base.h