27 #ifndef SVHCURRENTSETTINGS_H 28 #define SVHCURRENTSETTINGS_H 30 #include <icl_comm/ByteOrderConversion.h> 83 size_t size = cur_settings.size();
86 wmn = (size > 0) ? cur_settings[0] : 0.0;
87 wmx = (size > 1) ? cur_settings[1] : 0.0;
88 ky = (size > 2) ? cur_settings[2] : 0.0;
89 dt = (size > 3) ? cur_settings[3] : 0.0;
90 imn = (size > 4) ? cur_settings[4] : 0.0;
91 imx = (size > 5) ? cur_settings[5] : 0.0;
92 kp = (size > 6) ? cur_settings[6] : 0.0;
93 ki = (size > 7) ? cur_settings[7] : 0.0;
94 umn = (size > 8) ? cur_settings[8] : 0.0;
95 umx = (size > 9) ? cur_settings[9] : 0.0;
111 SVHCurrentSettings(
const float& wmn,
const float& wmx,
const float& ky,
const float& dt,
const float& imn,
112 const float& imx,
const float& kp,
const float& ki,
const float& umn,
const float& umx):
113 wmn(wmn),wmx(wmx),ky (ky),dt (dt),imn(imn), imx(imx), kp (kp), ki (ki), umn(umn), umx(umx)
120 wmn(0.0),wmx(0.0),ky (0.0), dt (0.0), imn(0.0), imx(0.0), kp (0.0), ki (0.0), umn(0.0), umx(0.0)
163 o <<
"wmn "<< cs.
wmn <<
" " 164 <<
"wmx "<< cs.
wmx <<
" " 165 <<
"ky " << cs.
ky <<
" " 166 <<
"dt " << cs.
dt <<
" " 167 <<
"imn "<< cs.
imn <<
" " 168 <<
"imx "<< cs.
imx <<
" " 169 <<
"kp " << cs.
kp <<
" " 170 <<
"ki " << cs.
ki <<
" " 171 <<
"umn "<< cs.
umn <<
" " 172 <<
"umx "<< cs.
umx <<
" " 179 #endif // SVHCURRENTSETTINGS_H float wmn
Reference signal minimum value.
SVHCurrentSettings(const float &wmn, const float &wmx, const float &ky, const float &dt, const float &imn, const float &imx, const float &kp, const float &ki, const float &umn, const float &umx)
SVHCurrentSettings Constructs a new current settings object to configure the current controller of a ...
float umn
Output limiter min.
SVHCurrentSettings(const std::vector< float > &cur_settings)
SVHCurrentSettings Construct current settings from a plain vector if the Vector is smaler than 10 val...
float umx
Output limiter max.
The SVHCurrentSettings save the current controller paramters for a single motor.
SVHCurrentSettings()
SVHCurrentSettings Default constructor, initalizes everything to zero.
float imn
Integral windup minimum value.
icl_comm::ArrayBuilder & operator>>(icl_comm::ArrayBuilder &ab, SVHControlCommand &data)
overload stream operator to easily deserialize control commands for one channel
float wmx
Reference signal maximum value.
float ky
measurement scaling
icl_comm::ArrayBuilder & operator<<(icl_comm::ArrayBuilder &ab, const SVHControlCommand &data)
float dt
time base of controller
float kp
Proportional gain.
float imx
Integral windup maximum value.
bool operator==(const SVHCurrentSettings &other) const
Compares two SVHCurrentSettings objects.