Filter control vector to avoid exceeding joint maximum values. More...
#include <sot/core/joint-limitator.hh>
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 |
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Entity (const std::string &name) | |
virtual | ~Entity () |
const std::string & | getName () const |
virtual const std::string & | getClassName () const |
virtual std::string | getDocString () const |
bool | hasSignal (const std::string &signame) const |
SignalBase< int > & | getSignal (const std::string &signalName) |
const SignalBase< int > & | getSignal (const std::string &signalName) const |
std::ostream & | displaySignalList (std::ostream &os) const |
virtual std::ostream & | writeGraph (std::ostream &os) const |
virtual std::ostream & | writeCompletionList (std::ostream &os) const |
virtual SignalBase< int > * | test () |
virtual void | test2 (SignalBase< int > *) |
const std::string & | getCommandList () const |
CommandMap_t | getNewStyleCommandMap () |
command::Command * | getNewStyleCommand (const std::string &cmdName) |
SignalMap | getSignalMap () 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 |
Additional Inherited Members | |
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typedef std::map< std::string, SignalBase< int > * > | SignalMap |
typedef std::map< const std::string, command::Command * > | CommandMap_t |
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void | addCommand (const std::string &name, command::Command *command) |
void | entityRegistration () |
void | entityDeregistration () |
void | signalRegistration (const SignalArray< int > &signals) |
void | signalDeregistration (const std::string &name) |
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std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
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).
dynamicgraph::sot::JointLimitator::JointLimitator | ( | const std::string & | name | ) |
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inlinevirtual |
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virtual |
dg::Vector& dynamicgraph::sot::JointLimitator::computeWidthJl | ( | dg::Vector & | res, |
const int & | time | ||
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virtual |
Reimplemented from dynamicgraph::Entity.
dg::SignalPtr< dg::Vector,int > dynamicgraph::sot::JointLimitator::controlSIN |
dg::SignalTimeDependent< dg::Vector,int > dynamicgraph::sot::JointLimitator::controlSOUT |
dg::SignalPtr< dg::Vector,int > dynamicgraph::sot::JointLimitator::jointSIN |
dg::SignalPtr< dg::Vector,int > dynamicgraph::sot::JointLimitator::lowerJlSIN |
dg::SignalPtr< dg::Vector,int > dynamicgraph::sot::JointLimitator::upperJlSIN |
dg::SignalTimeDependent< dg::Vector,int > dynamicgraph::sot::JointLimitator::widthJlSINTERN |