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:

List of all members.

Public Member Functions
	JointLimitator (const std::string &name)
virtual	~JointLimitator ()
virtual ml::Vector &	computeControl (ml::Vector &res, int time)
ml::Vector &	computeWidthJl (ml::Vector &res, const int &time)
virtual void	display (std::ostream &os) const
Public Attributes
Signals
dg::SignalPtr< ml::Vector, int >	jointSIN
dg::SignalPtr< ml::Vector, int >	upperJlSIN
dg::SignalPtr< ml::Vector, int >	lowerJlSIN
dg::SignalPtr< ml::Vector, int >	controlSIN
dg::SignalTimeDependent < ml::Vector, int >	controlSOUT
dg::SignalTimeDependent < ml::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

dynamicgraph::sot::JointLimitator::JointLimitator

(

const std::string &

name

)

virtual dynamicgraph::sot::JointLimitator::~JointLimitator

(

)

[inline, virtual]

---

Member Function Documentation

virtual ml::Vector& dynamicgraph::sot::JointLimitator::computeControl	(	ml::Vector &	res,
		int	time
	)		[virtual]

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

virtual void dynamicgraph::sot::JointLimitator::display

(

std::ostream &

os

)

const [virtual]

Reimplemented from dynamicgraph::Entity.

---

Member Data Documentation

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

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

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

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

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

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