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:
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Public Member Functions

 JointLimitator (const std::string &name)
 
virtual ~JointLimitator ()
 
virtual dg::VectorcomputeControl (dg::Vector &res, int time)
 
dg::VectorcomputeWidthJl (dg::Vector &res, const int &time)
 
virtual void display (std::ostream &os) const
 
- Public Member Functions inherited from dynamicgraph::Entity
 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::CommandgetNewStyleCommand (const std::string &cmdName)
 
SignalMap getSignalMap () const
 
void sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
 
void setLoggerVerbosityLevel (LoggerVerbosity lv)
 
LoggerVerbosity getLoggerVerbosityLevel ()
 

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

- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * > SignalMap
 
typedef std::map< const std::string, command::Command *> CommandMap_t
 
- Protected Member Functions inherited from dynamicgraph::Entity
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)
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
Logger logger_
 

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

Reimplemented from dynamicgraph::Entity.

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