Struct SVHPositionSettings

Struct Documentation

struct SVHPositionSettings

The SVHPositionSettings save the position controller paramters for a single motor.

Public Functions

inline bool operator==(const SVHPositionSettings &other) const

Compares two SVHPositionsetting objects.

inline SVHPositionSettings(const std::vector<float> &pos_settings)

SVHPositionSettings Construct positions settings from a plain vector if the Vector is smaler than 10 values will be filled with 0.0.

Parameters:

pos_settings – Vector of floats in the order: wmn, wmx, dwmx, ky, dt, imn, imx, kp, ki , kd

inline SVHPositionSettings(const float &wmn, const float &wmx, const float &dwmx, const float &ky, const float &dt, const float &imn, const float &imx, const float &kp, const float &ki, const float &kd)

SVHPositionSettings Constructs a new positition settings object to configure the position controller of a finger.

Parameters:

  • wmn – Reference signal minimum value

  • wmx – Reference signal maximum value

  • dwmx – Reference signal delta maximum threshold

  • ky – Measurement scaling

  • dt – Time base of controller

  • imn – Integral windup minimum value

  • imx – Integral windup maximum value

  • kp – Proportional gain

  • ki – Integral gain

  • kd – Differential gain

inline SVHPositionSettings()

SVHPositionSettings Defaault constructor. Intitializes everything to zero.

Public Members

float wmn

Reference signal minimum value.

float wmx

Reference signal maximum value.

float dwmx

Reference signal delta maximum threshold.

float ky

Measurement scaling.

float dt

Time base of controller.

float imn

Integral windup minimum value.

float imx

Integral windup maximum value.

float kp

Proportional gain.

float ki

Integral gain.

float kd

Differential gain.