Class VelocityLimits

• Defined in File VelocityLimits.h

Inheritance Relationships

Base Type

• public OpenSoT::Constraint< Eigen::MatrixXd, Eigen::VectorXd > (Template Class Constraint)

Class Documentation

class VelocityLimits : public OpenSoT::Constraint<Eigen::MatrixXd, Eigen::VectorXd>

The VelocityLimits class implements joint velocity limits in acceleration.

Public Types

typedef std::shared_ptr<VelocityLimits> Ptr

Public Functions

VelocityLimits(XBot::ModelInterface &robot, const AffineHelper &qddot, const double qDotLimit, const double dT)

VelocityLimits constructor.

Parameters

• robot – model

• qddot – variables

• qDotLimit – velocity limits applied to all the joints

• dT – control loop time

VelocityLimits(XBot::ModelInterface &robot, const AffineHelper &qddot, const Eigen::VectorXd &qDotLimit, const double dT)

VelocityLimits constructor.

Parameters

• robot – model

• qddot – variables

• qDotLimit – limits as a vector

• dT – control loop time

virtual void update()

update

Parameters

x –

void setVelocityLimits(const double qDotLimit)

setVelocityLimits update velocity limits

Parameters

qDotLimit – applied to all the joints

void setVelocityLimits(const Eigen::VectorXd &qDotLimit)

setVelocityLimits update velocity limits

Parameters

qDotLimit – as a vector

bool setPStepAheadPredictor(const double p)

setPStepAheadPredictor

Parameters

p – step predictor coefficient >= 1

Returns

false if p < 1