wbc::JointLimitAvoidanceController Class Reference

#include <JointLimitAvoidanceController.hpp>

Inheritance diagram for wbc::JointLimitAvoidanceController:

Public Member Functions
	JointLimitAvoidanceController (const types::JointLimits &joint_limits, const std::vector< std::string > joint_names, const Eigen::VectorXd &influence_distance)
const types::JointCommand &	update (const types::JointState &feedback)
	update Compute control output
void	setEpsilon (const double eps)
Public Member Functions inherited from wbc::PotentialFieldsController
	PotentialFieldsController (const uint _dimension)
void	applySaturation (const Eigen::VectorXd &in, Eigen::VectorXd &out)
	Apply Saturation on the control output. If one or more values of <in> are bigger than the Corrresponding entry of <max>, all values will be scaled down according to the biggest ratio eta = in_i / max,i.
void	setFields (const std::vector< PotentialFieldPtr > &_fields)
std::vector< PotentialFieldInfo >	getFieldInfos ()
void	clearFields ()
void	setPGain (const Eigen::VectorXd &gain)
void	setMaxControlOutput (const Eigen::VectorXd &new_max_control_output)
Eigen::VectorXd	getMaxControlOutput ()
Eigen::VectorXd	getPGain ()
const std::vector< PotentialFieldPtr > &	getFields ()
uint	getDimension ()

Protected Attributes
types::JointLimits	joint_limits
types::JointCommand	joints_control_output
double	epsilon
Protected Attributes inherited from wbc::PotentialFieldsController
Eigen::VectorXd	p_gain
Eigen::VectorXd	max_ctrl_output
Eigen::VectorXd	control_output
std::vector< PotentialFieldPtr >	fields
std::vector< PotentialFieldInfo >	field_infos
uint	dimension

Constructor & Destructor Documentation

JointLimitAvoidanceController()

wbc::JointLimitAvoidanceController::JointLimitAvoidanceController	(	const types::JointLimits &	joint_limits,
		const std::vector< std::string >	joint_names,
		const Eigen::VectorXd &	influence_distance )

Member Function Documentation

setEpsilon()

void wbc::JointLimitAvoidanceController::setEpsilon ( const double eps )

inline

Value to avoid nunmerical issues close to the joint limits. Default is 1e-9

update()

const types::JointCommand & wbc::JointLimitAvoidanceController::update

(

const types::JointState &

feedback

)

update Compute control output

Returns

Control output. Size will be same as dimension.

Member Data Documentation

epsilon

double wbc::JointLimitAvoidanceController::epsilon

protected

joint_limits

types::JointLimits wbc::JointLimitAvoidanceController::joint_limits

protected

joints_control_output

types::JointCommand wbc::JointLimitAvoidanceController::joints_control_output

protected

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The documentation for this class was generated from the following files:

• src/controllers/JointLimitAvoidanceController.hpp
• src/controllers/JointLimitAvoidanceController.cpp