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 )

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

inline

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

const types::JointCommand & wbc::JointLimitAvoidanceController::update ( const types::JointState & feedback )

update Compute control output

double wbc::JointLimitAvoidanceController::epsilon

protected

types::JointLimits wbc::JointLimitAvoidanceController::joint_limits

protected

types::JointCommand wbc::JointLimitAvoidanceController::joints_control_output

protected

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