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

Public Member Functions
bool	operator== (const SVHCurrentSettings &other) const
	Compares two SVHCurrentSettings objects.
	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.
	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.
	SVHCurrentSettings ()
	SVHCurrentSettings Default constructor, initalizes everything to zero.
Public Attributes
float	dt
	time base of controller
float	imn
	Integral windup minimum value.
float	imx
	Integral windup maximum value.
float	ki
	Integral gain.
float	kp
	Proportional gain.
float	ky
	measurement scaling
float	umn
	Output limiter min.
float	umx
	Output limiter max.
float	wmn
	Reference signal minimum value.
float	wmx
	Reference signal maximum value.

Detailed Description

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

Definition at line 37 of file SVHCurrentSettings.h.

Constructor & Destructor Documentation

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

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

Definition at line 81 of file SVHCurrentSettings.h.

driver_svh::SVHCurrentSettings::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
	)		`[inline]`

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