sot-core
4.11.6
Hierarchical task solver plug-in for dynamic-graph.
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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>
21 #if defined(joint_limitator_EXPORTS)
22 #define SOTJOINTLIMITATOR_EXPORT __declspec(dllexport)
24 #define SOTJOINTLIMITATOR_EXPORT __declspec(dllimport)
27 #define SOTJOINTLIMITATOR_EXPORT
38 DYNAMIC_GRAPH_ENTITY_DECL();
44 virtual dynamicgraph::Vector &computeControl(dynamicgraph::Vector &res,
46 dynamicgraph::Vector &computeWidthJl(dynamicgraph::Vector &res,
49 virtual void display(std::ostream &os)
const;
53 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
jointSIN;
54 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
upperJlSIN;
55 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
lowerJlSIN;
56 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
controlSIN;
57 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
controlSOUT;
Filter control vector to avoid exceeding joint maximum values.
Definition: joint-limitator.hh:37
Definition: abstract-sot-external-interface.hh:17
virtual ~JointLimitator()
Definition: joint-limitator.hh:42
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > controlSIN
Definition: joint-limitator.hh:56
#define SOTJOINTLIMITATOR_EXPORT
Definition: joint-limitator.hh:27
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > upperJlSIN
Definition: joint-limitator.hh:54
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > controlSOUT
Definition: joint-limitator.hh:57
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > jointSIN
Definition: joint-limitator.hh:53
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > widthJlSINTERN
Definition: joint-limitator.hh:58
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > lowerJlSIN
Definition: joint-limitator.hh:55