Robot Simulator of the Robotics Group for Self-Organization of Control: LimitOrientationOperator Class Reference

# LimitOrientationOperator Class Reference

An Operator for limiting the orientation of the main primitive of a robot. More...

`#include <operators.h>`

Inherits lpzrobots::Operator.

Collaboration diagram for LimitOrientationOperator:
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List of all members.

## Public Member Functions
| LimitOrientationOperator (const Axis &robotAxis, const Axis &globalAxis, double maxAngle, double force)
virtual ManipType | observe (OdeAgent *agent, GlobalData &global, ManipDescr &descr)
| called every simulation step
## Protected Attributes
Axis | robotAxis
Axis | globalAxis
double | maxAngle
double | force
double | currentforce

## Detailed Description

An Operator for limiting the orientation of the main primitive of a robot.

## Constructor & Destructor Documentation

LimitOrientationOperator | ( | const Axis & | robotAxis,
|  | const Axis & | globalAxis,
|  | double | maxAngle,
|  | double | force |
| ) |  |  | `[inline]`

## Member Function Documentation

Operator::ManipType observe | ( | OdeAgent * | agent,
|  | GlobalData & | global,
|  | ManipDescr & | descr |
| ) |  |  | `[virtual]`

called every simulation step

Returns:
  what was done with the robot

Implements Operator.

## Member Data Documentation

double currentforce`[protected]`

double force`[protected]`

Axis globalAxis`[protected]`

double maxAngle`[protected]`

Axis robotAxis`[protected]`

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

- operators.h
- operators.cpp