Struct SVHCurrentSettings

Struct Documentation

struct SVHCurrentSettings

The SVHCurrentSettings save the current controller paramters for a single motor.

Public Functions

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

Compares two SVHCurrentSettings objects.

inline SVHCurrentSettings(const std::vector<float> &cur_settings)

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

Parameters:

cur_settings – Vector of floats in the order: wmn, wmx, ky, dt, imn, imx, kp, ki , umn, umx

inline 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 finger.

Parameters:

  • wmn – Reference signal minimum value

  • wmx – Reference signal maximum value

  • ky – measurement scaling

  • dt – time base of controller

  • imn – Integral windup minimum value

  • imx – Integral windup maximum value

  • kp – Proportional gain

  • ki – Integral gain

  • umn – Output limiter min

  • umx – Output limiter max

inline SVHCurrentSettings()

SVHCurrentSettings Default constructor, initalizes everything to zero.

Public Members

float wmn

Reference signal minimum value.

float wmx

Reference signal maximum value.

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 umn

Output limiter min.

float umx

Output limiter max.