iCub::ctrl::RateLimiter Class Reference

Rate Limiter. More...

#include <filters.h>

Inheritance diagram for iCub::ctrl::RateLimiter:

Public Member Functions
	RateLimiter (const yarp::sig::Vector &rL, const yarp::sig::Vector &rU)
	Creates a Rate Limiter which keeps the rate of the input within assigned thresholds.
virtual void	init (const yarp::sig::Vector &u0)
	Init internal state.
void	getLimits (yarp::sig::Vector &rL, yarp::sig::Vector &rU)
	Returns the current Rate limits.
void	setLimits (const yarp::sig::Vector &rL, const yarp::sig::Vector &rU)
	Sets new Rate limits.
virtual const yarp::sig::Vector &	filt (const yarp::sig::Vector &u)
	Limits the input rate.
virtual const yarp::sig::Vector &	output () const
	Return current filter output.
Public Member Functions inherited from iCub::ctrl::IFilter
virtual	~IFilter ()
	Destructor.

Protected Attributes
yarp::sig::Vector	uD
yarp::sig::Vector	uLim
yarp::sig::Vector	rateUpperLim
yarp::sig::Vector	rateLowerLim
size_t	n

Detailed Description

Rate Limiter.

Definition at line 180 of file filters.h.

Constructor & Destructor Documentation

RateLimiter()

RateLimiter::RateLimiter	(	const yarp::sig::Vector &	rL,
		const yarp::sig::Vector &	rU
	)

Creates a Rate Limiter which keeps the rate of the input within assigned thresholds.

Parameters

rL	Rate lower limit.
rU	Rate upper limit.

Definition at line 168 of file filters.cpp.

Member Function Documentation

filt()

const Vector & RateLimiter::filt ( const yarp::sig::Vector &  u )

virtual

Limits the input rate.

Parameters

u	is the current input.

Returns

the output within the thresholds.

Implements iCub::ctrl::IFilter.

Definition at line 201 of file filters.cpp.

getLimits()

void RateLimiter::getLimits	(	yarp::sig::Vector &	rL,
		yarp::sig::Vector &	rU
	)

Returns the current Rate limits.

Parameters

rL	Rate lower limit.
rU	Rate upper limit.

Definition at line 185 of file filters.cpp.

init()

void RateLimiter::init ( const yarp::sig::Vector &  u0 )

virtual

Init internal state.

Parameters

u0	new internal state.

Implements iCub::ctrl::IFilter.

Definition at line 178 of file filters.cpp.

output()

virtual const yarp::sig::Vector & iCub::ctrl::RateLimiter::output ( ) const

inlinevirtual

Return current filter output.

Returns

the filter output.

Implements iCub::ctrl::IFilter.

Definition at line 232 of file filters.h.

setLimits()

void RateLimiter::setLimits	(	const yarp::sig::Vector &	rL,
		const yarp::sig::Vector &	rU
	)

Sets new Rate limits.

Parameters

rL	Rate lower limit.
rU	Rate upper limit.

Note

coherence between new limits length and the state length is not veriified.

Definition at line 193 of file filters.cpp.

Member Data Documentation

n

size_t iCub::ctrl::RateLimiter::n

protected

Definition at line 188 of file filters.h.

rateLowerLim

yarp::sig::Vector iCub::ctrl::RateLimiter::rateLowerLim

protected

Definition at line 186 of file filters.h.

rateUpperLim

yarp::sig::Vector iCub::ctrl::RateLimiter::rateUpperLim

protected

Definition at line 185 of file filters.h.

uD

yarp::sig::Vector iCub::ctrl::RateLimiter::uD

protected

Definition at line 183 of file filters.h.

uLim

yarp::sig::Vector iCub::ctrl::RateLimiter::uLim

protected

Definition at line 184 of file filters.h.

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The documentation for this class was generated from the following files:

• icub-main/src/libraries/ctrlLib/include/iCub/ctrl/filters.h
• icub-main/src/libraries/ctrlLib/src/filters.cpp