27 #ifndef SVHPOSITIONSETTINGS_H 28 #define SVHPOSITIONSETTINGS_H 30 #include <icl_comm/ByteOrderConversion.h> 83 size_t size = pos_settings.size();
85 wmn = (size > 0) ? pos_settings[0] : 0.0;
86 wmx = (size > 1) ? pos_settings[1] : 0.0;
87 dwmx = (size > 2) ? pos_settings[2] : 0.0;
88 ky = (size > 3) ? pos_settings[3] : 0.0;
89 dt = (size > 4) ? pos_settings[4] : 0.0;
90 imn = (size > 5) ? pos_settings[5] : 0.0;
91 imx = (size > 6) ? pos_settings[6] : 0.0;
92 kp = (size > 7) ? pos_settings[7] : 0.0;
93 ki = (size > 8) ? pos_settings[8] : 0.0;
94 kd = (size > 9) ? pos_settings[9] : 0.0;
113 const float& imn,
const float& imx,
const float& kp,
const float& ki,
const float& kd):
114 wmn(wmn),wmx(wmx),dwmx(dwmx),ky (ky),dt (dt),imn(imn), imx(imx), kp (kp), ki (ki), kd(kd)
121 wmn(0.0),wmx(0.0),dwmx(0.0),ky (0.0), dt (0.0), imn(0.0), imx(0.0), kp (0.0), ki (0.0), kd(0.0)
161 o <<
"wmn " << ps.
wmn <<
" " 162 <<
"wmx " << ps.
wmx <<
" " 163 <<
"dwmx "<< ps.
dwmx <<
" " 164 <<
"ky " << ps.
ky <<
" " 165 <<
"dt " << ps.
dt <<
" " 166 <<
"imn " << ps.
imn <<
" " 167 <<
"imx " << ps.
imx <<
" " 168 <<
"kp " << ps.
kp <<
" " 169 <<
"ki " << ps.
ki <<
" " 170 <<
"kd " << ps.
kd <<
" " 181 #endif // SVHPOSITIONSETTINGS_H float wmx
Reference signal maximum value.
float dt
Time base of controller.
float kp
Proportional gain.
icl_comm::ArrayBuilder & operator>>(icl_comm::ArrayBuilder &ab, SVHControlCommand &data)
overload stream operator to easily deserialize control commands for one channel
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 ...
SVHPositionSettings()
SVHPositionSettings Defaault constructor. Intitializes everything to zero.
float dwmx
Reference signal delta maximum threshold.
icl_comm::ArrayBuilder & operator<<(icl_comm::ArrayBuilder &ab, const SVHControlCommand &data)
float wmn
Reference signal minimum value.
bool operator==(const SVHPositionSettings &other) const
Compares two SVHPositionsetting objects.
The SVHPositionSettings save the position controller paramters for a single motor.
float imn
Integral windup minimum value.
float kd
Differential gain.
float imx
Integral windup maximum value.
SVHPositionSettings(const std::vector< float > &pos_settings)
SVHPositionSettings Construct positions settings from a plain vector if the Vector is smaler than 10 ...
float ky
Measurement scaling.