10 #ifndef SOT_FEATURE_JOINTLIMITS_HH
11 #define SOT_FEATURE_JOINTLIMITS_HH
13 #include <dynamic-graph/linear-algebra.h>
16 #include <dynamic-graph/all-signals.h>
17 #include <dynamic-graph/entity.h>
21 #if defined(joint_limitator_EXPORTS)
22 #define SOTJOINTLIMITATOR_EXPORT __declspec(dllexport)
24 #define SOTJOINTLIMITATOR_EXPORT __declspec(dllimport)
27 #define SOTJOINTLIMITATOR_EXPORT
38 DYNAMIC_GRAPH_ENTITY_DECL();
49 virtual void display(std::ostream &os)
const;
53 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
jointSIN;
54 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
upperJlSIN;
55 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
lowerJlSIN;
56 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
controlSIN;
57 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
controlSOUT;
Filter control vector to avoid exceeding joint maximum values.
Definition: joint-limitator.hh:37
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > controlSIN
Definition: joint-limitator.hh:56
virtual void display(std::ostream &os) const
virtual dynamicgraph::Vector & computeControl(dynamicgraph::Vector &res, int time)
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > upperJlSIN
Definition: joint-limitator.hh:54
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > jointSIN
Definition: joint-limitator.hh:53
virtual ~JointLimitator()
Definition: joint-limitator.hh:42
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > lowerJlSIN
Definition: joint-limitator.hh:55
dynamicgraph::Vector & computeWidthJl(dynamicgraph::Vector &res, const int &time)
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > widthJlSINTERN
Definition: joint-limitator.hh:58
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > controlSOUT
Definition: joint-limitator.hh:57
JointLimitator(const std::string &name)
#define SOTJOINTLIMITATOR_EXPORT
Definition: joint-limitator.hh:27
Definition: abstract-sot-external-interface.hh:17