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

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_settings Vector 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:

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