Go to the documentation of this file.
10 #ifndef SOT_FEATURE_JOINTLIMITS_HH
11 #define SOT_FEATURE_JOINTLIMITS_HH
13 #include <dynamic-graph/linear-algebra.h>
17 #include <dynamic-graph/all-signals.h>
18 #include <dynamic-graph/entity.h>
22 #if defined(joint_limitator_EXPORTS)
23 #define SOTJOINTLIMITATOR_EXPORT __declspec(dllexport)
25 #define SOTJOINTLIMITATOR_EXPORT __declspec(dllimport)
28 #define SOTJOINTLIMITATOR_EXPORT
40 DYNAMIC_GRAPH_ENTITY_DECL();
46 virtual dg::Vector &computeControl(dg::Vector &res,
int time);
47 dg::Vector &computeWidthJl(dg::Vector &res,
const int &time);
49 virtual void display(std::ostream &os)
const;
Filter control vector to avoid exceeding joint maximum values.
Definition: joint-limitator.hh:39
dg::SignalPtr< dg::Vector, int > lowerJlSIN
Definition: joint-limitator.hh:55
Definition: abstract-sot-external-interface.hh:17
dg::SignalPtr< dg::Vector, int > jointSIN
Definition: joint-limitator.hh:53
virtual ~JointLimitator()
Definition: joint-limitator.hh:44
dg::SignalTimeDependent< dg::Vector, int > widthJlSINTERN
Definition: joint-limitator.hh:58
dg::SignalPtr< dg::Vector, int > controlSIN
Definition: joint-limitator.hh:56
#define SOTJOINTLIMITATOR_EXPORT
Definition: joint-limitator.hh:28
dg::SignalTimeDependent< dg::Vector, int > controlSOUT
Definition: joint-limitator.hh:57
dg::SignalPtr< dg::Vector, int > upperJlSIN
Definition: joint-limitator.hh:54