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 a bound on joint velocities.

Public Types

typedef std::shared_ptr<VelocityLimits> Ptr

Public Functions

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

VelocityLimits constructor.

Parameters

• qDotLimit – the joint velocity limit. It is always a positive number [rad/s]

• dT – the time constant at which we are performing velocity control [s]

• x_size – the size of the unknowns that we want to bound (it CANNOT be a subset)

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

Eigen::VectorXd getVelocityLimits()

getVelocityLimits returns the current velocity limits.

Returns

the joint velocity limits. It is always a positive double [rad/s]

void setVelocityLimits(const double qDotLimit)

setVelocityLimits

Parameters

qDotLimit – the joint velocity limits. It needs be a positive number [rad/s]

void setVelocityLimits(const Eigen::VectorXd &qDotLimit)

double getDT()

getDT returns the (constant) sample time we assume on the system.

Returns

the system sample time in [s]