File clamp.hpp

Copyright

Copyright (c) 2020, New York University & Max Planck Gesellschaft.

namespace robot_fingers

Functions

template<typename Vector>
Vector clamp(const Vector &vector, const double lower_limit, const double upper_limit)

Clamp an arbitrary Eigen vector.

Parameters

  • vector – The vector that is to be clamped.

  • lower_limit – Lower limit.

  • upper_limit – Upper limit.

Returns

Copy of vector where values below or above the limits are set to the corresponding limit values.