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

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

#include <SVHPositionSettings.h>

List of all members.

Public Member Functions

bool operator== (const SVHPositionSettings &other) const
 Compares two SVHPositionsetting objects.
 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.
 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.
 SVHPositionSettings ()
 SVHPositionSettings Defaault constructor. Intitializes everything to zero.

Public Attributes

float dt
 Time base of controller.
float dwmx
 Reference signal delta maximum threshold.
float imn
 Integral windup minimum value.
float imx
 Integral windup maximum value.
float kd
 Differential gain.
float ki
 Integral gain.
float kp
 Proportional gain.
float ky
 Measurement scaling.
float wmn
 Reference signal minimum value.
float wmx
 Reference signal maximum value.

Detailed Description

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

Definition at line 37 of file SVHPositionSettings.h.


Constructor & Destructor Documentation

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

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

Parameters:
pos_settingsVector of floats in the order: wmn, wmx, dwmx, ky, dt, imn, imx, kp, ki , kd

Definition at line 81 of file SVHPositionSettings.h.

driver_svh::SVHPositionSettings::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 
) [inline]

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

Parameters:
wmnReference signal minimum value
wmxReference signal maximum value
dwmxReference signal delta maximum threshold
kyMeasurement scaling
dtTime base of controller
imnIntegral windup minimum value
imxIntegral windup maximum value
kpProportional gain
kiIntegral gain
kdDifferential gain

Definition at line 112 of file SVHPositionSettings.h.

SVHPositionSettings Defaault constructor. Intitializes everything to zero.

Definition at line 120 of file SVHPositionSettings.h.


Member Function Documentation

bool driver_svh::SVHPositionSettings::operator== ( const SVHPositionSettings other) const [inline]

Compares two SVHPositionsetting objects.

Definition at line 62 of file SVHPositionSettings.h.


Member Data Documentation

Time base of controller.

Definition at line 49 of file SVHPositionSettings.h.

Reference signal delta maximum threshold.

Definition at line 45 of file SVHPositionSettings.h.

Integral windup minimum value.

Definition at line 51 of file SVHPositionSettings.h.

Integral windup maximum value.

Definition at line 53 of file SVHPositionSettings.h.

Differential gain.

Definition at line 59 of file SVHPositionSettings.h.

Integral gain.

Definition at line 57 of file SVHPositionSettings.h.

Proportional gain.

Definition at line 55 of file SVHPositionSettings.h.

Measurement scaling.

Definition at line 47 of file SVHPositionSettings.h.

Reference signal minimum value.

Definition at line 41 of file SVHPositionSettings.h.

Reference signal maximum value.

Definition at line 43 of file SVHPositionSettings.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