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> 22 #if defined(joint_limitator_EXPORTS) 23 #define SOTJOINTLIMITATOR_EXPORT __declspec(dllexport) 25 #define SOTJOINTLIMITATOR_EXPORT __declspec(dllimport) 28 #define SOTJOINTLIMITATOR_EXPORT 39 DYNAMIC_GRAPH_ENTITY_DECL();
45 virtual dynamicgraph::Vector &computeControl(dynamicgraph::Vector &res,
47 dynamicgraph::Vector &computeWidthJl(dynamicgraph::Vector &res,
50 virtual void display(std::ostream &os)
const;
54 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
jointSIN;
55 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
upperJlSIN;
56 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
lowerJlSIN;
57 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
controlSIN;
58 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
controlSOUT;
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > upperJlSIN
Definition: joint-limitator.hh:55
#define SOTJOINTLIMITATOR_EXPORT
Definition: joint-limitator.hh:28
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > widthJlSINTERN
Definition: joint-limitator.hh:59
virtual ~JointLimitator()
Definition: joint-limitator.hh:43
Filter control vector to avoid exceeding joint maximum values.
Definition: joint-limitator.hh:38
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > jointSIN
Definition: joint-limitator.hh:54
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > controlSOUT
Definition: joint-limitator.hh:58
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > controlSIN
Definition: joint-limitator.hh:57
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > lowerJlSIN
Definition: joint-limitator.hh:56
Definition: abstract-sot-external-interface.hh:17