dynamicgraph::sot::JointLimitator Class Reference

Filter control vector to avoid exceeding joint maximum values. More...

#include <sot/core/joint-limitator.hh>

Inheritance diagram for dynamicgraph::sot::JointLimitator:

Public Member Functions
	JointLimitator (const std::string &name)
virtual	~JointLimitator ()
virtual dg::Vector &	computeControl (dg::Vector &res, int time)
dg::Vector &	computeWidthJl (dg::Vector &res, const int &time)
virtual void	display (std::ostream &os) const

Public Attributes
Signals
dg::SignalPtr< dg::Vector, int >	jointSIN
dg::SignalPtr< dg::Vector, int >	upperJlSIN
dg::SignalPtr< dg::Vector, int >	lowerJlSIN
dg::SignalPtr< dg::Vector, int >	controlSIN
dg::SignalTimeDependent< dg::Vector, int >	controlSOUT
dg::SignalTimeDependent< dg::Vector, int >	widthJlSINTERN

Detailed Description

Filter control vector to avoid exceeding joint maximum values.

This must be plugged between the entity producing the command (i.e. usually the sot) and the entity executing it (the device).

Constructor & Destructor Documentation

JointLimitator()

dynamicgraph::sot::JointLimitator::JointLimitator

(

const std::string &

name

)

~JointLimitator()

virtual dynamicgraph::sot::JointLimitator::~JointLimitator ( )

inlinevirtual

Member Function Documentation

computeControl()

virtual dg::Vector& dynamicgraph::sot::JointLimitator::computeControl ( dg::Vector &  res, int  time  )

virtual

computeWidthJl()

dg::Vector& dynamicgraph::sot::JointLimitator::computeWidthJl	(	dg::Vector &	res,
		const int &	time
	)

display()

virtual void dynamicgraph::sot::JointLimitator::display ( std::ostream &  os ) const

virtual

Member Data Documentation

controlSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::JointLimitator::controlSIN

controlSOUT

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::JointLimitator::controlSOUT

jointSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::JointLimitator::jointSIN

lowerJlSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::JointLimitator::lowerJlSIN

upperJlSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::JointLimitator::upperJlSIN

widthJlSINTERN

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::JointLimitator::widthJlSINTERN