class dynoConstantLimiter

Limits joint forces/torques based on a vector of fixed limits.

Inheritance:

Public Fields

vector maxPosForce

vector of maximum positive forces for each DOF

vector maxNegForce

vector of maximum negative forces for each DOF

mechanism* mech

the mechanism whose DOF forces are being limited

Public Methods

dynoConstantLimiter(mechanism* Mech)

Constructor

int limitForces(void)

limits DOF forces

Inherited from dynoLimiter:

Inherited from dynoObject:

Public Fields

dynamicSystem* ds

int active

int stateSize

Public Methods

inline virtual int getState(double* state)

inline virtual int setState(const double* state)

inline virtual int reset(void)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

Limits joint forces/torques based on a vector of fixed limits.

vector maxPosForce

vector of maximum positive forces for each DOF

vector maxNegForce

vector of maximum negative forces for each DOF

mechanism* mech

the mechanism whose DOF forces are being limited

dynoConstantLimiter(mechanism* Mech)

Constructor

int limitForces(void)

limits DOF forces

This class has no child classes.

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