Public Member Functions | Public Attributes
driver_svh::SVHHomeSettings Struct Reference

data sctructure for home positions More...

#include <SVHHomeSettings.h>

List of all members.

Public Member Functions

 SVHHomeSettings ()
 SVHHomeSettings Default constructor initializing empty homeSettings. This is not usefull and should be filled immediately after.
 SVHHomeSettings (const int &direction_, const float &minimumOffset_, const float &maximumOffset_, const float &idlePosition_, const float &rangeRad_, const float &resetCurrentFactor_)
 SVHHomeSettingsn Constructor for the home settings, providing each value individually.
 SVHHomeSettings (const std::vector< float > &home_settings)
 SVHHomeSettings Convenience constructor to easily construct home settings out of a singe vector. Values are evaluated in order and if the vector is to short, values will be filles with zeros.

Public Attributes

int direction
 Movement direction of the finger +1 or -1 home in positive or negative direction.
float idlePosition
 Idle position to move the fingers to after initialization.
float maximumOffset
 Maximum reachable tick limt, given as an offset from the hard stop (soft limit)
float minimumOffset
 Minimum reachable tick limit, given as offset from the hard stop (soft limit)
float rangeRad
float resetCurrentFactor
 The resetCurrentFactor indicates how much of the maximum allowed current (of the controller) must be present in order to decide that a hard stop was reached.

Detailed Description

data sctructure for home positions

Definition at line 35 of file SVHHomeSettings.h.


Constructor & Destructor Documentation

SVHHomeSettings Default constructor initializing empty homeSettings. This is not usefull and should be filled immediately after.

Definition at line 56 of file SVHHomeSettings.h.

driver_svh::SVHHomeSettings::SVHHomeSettings ( const int &  direction_,
const float &  minimumOffset_,
const float &  maximumOffset_,
const float &  idlePosition_,
const float &  rangeRad_,
const float &  resetCurrentFactor_ 
) [inline]

SVHHomeSettingsn Constructor for the home settings, providing each value individually.

Parameters:
direction_Reset direction +1 oder -1
minimumOffset_soft stop minimum value
maximumOffset_soft stop maximum value
idlePosition_position to go to after reset
rangeRad_range of moevement in rad

Definition at line 73 of file SVHHomeSettings.h.

driver_svh::SVHHomeSettings::SVHHomeSettings ( const std::vector< float > &  home_settings) [inline]

SVHHomeSettings Convenience constructor to easily construct home settings out of a singe vector. Values are evaluated in order and if the vector is to short, values will be filles with zeros.

Parameters:
home_settingsvector of floats containing the values for the home settings. If the vector is to short the remaining values will be filled with zeros. If it is to long only as much elements as there are values in HomeSettings will be evaluated

Definition at line 91 of file SVHHomeSettings.h.


Member Data Documentation

Movement direction of the finger +1 or -1 home in positive or negative direction.

Definition at line 38 of file SVHHomeSettings.h.

Idle position to move the fingers to after initialization.

Note:
This position should be within the min and max offset positions.

Definition at line 44 of file SVHHomeSettings.h.

Maximum reachable tick limt, given as an offset from the hard stop (soft limit)

Definition at line 42 of file SVHHomeSettings.h.

Minimum reachable tick limit, given as offset from the hard stop (soft limit)

Definition at line 40 of file SVHHomeSettings.h.

The total angle in [rad] that is used by the finger i.e. the anlge between one (soft) stop and the other This value will be used for calculation of the ticks

Note:
Currently we use the HARD STOP to HARD STOP angle but map that to a range of ticks from SOFT STOP to SOFT STOP this might be the wrong approach
as we therefore would get an angle of zero event hough the finger might be standing at 5k ticks. However by using this method we can asure the Range of the
input to be of constant size. This night change to better reflect the real rad value

Definition at line 49 of file SVHHomeSettings.h.

The resetCurrentFactor indicates how much of the maximum allowed current (of the controller) must be present in order to decide that a hard stop was reached.

Note:
Values betweeen 0.0 and 1.0 are allowed

Definition at line 51 of file SVHHomeSettings.h.


The documentation for this struct was generated from the following file:


schunk_svh_driver
Author(s): Georg Heppner
autogenerated on Fri Aug 28 2015 12:59:20