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 dynamicgraph::Vector &	computeControl (dynamicgraph::Vector &res, int time)

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

virtual void	display (std::ostream &os) const

Public Attributes
Signals
dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	jointSIN

dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	upperJlSIN

dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	lowerJlSIN

dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	controlSIN

dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int >	controlSOUT

dynamicgraph::SignalTimeDependent< dynamicgraph::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 dynamicgraph::Vector& dynamicgraph::sot::JointLimitator::computeControl	(	dynamicgraph::Vector &	res,
		int	time
	)

virtual

◆ computeWidthJl()

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

◆ display()

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

virtual

Member Data Documentation

◆ controlSIN

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

◆ controlSOUT

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

◆ jointSIN

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

◆ lowerJlSIN

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

◆ upperJlSIN

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

◆ widthJlSINTERN

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

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

include/sot/core/joint-limitator.hh

Public Member Functions

Public Attributes