The SVHCurrentSettings save the current controller paramters for a single motor. More...
#include <SVHCurrentSettings.h>
Public Member Functions | |
| bool | operator== (const SVHCurrentSettings &other) const |
| Compares two SVHCurrentSettings objects. More... | |
| 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. More... | |
| 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. More... | |
| SVHCurrentSettings () | |
| SVHCurrentSettings Default constructor, initalizes everything to zero. More... | |
Public Attributes | |
| float | dt |
| time base of controller More... | |
| float | imn |
| Integral windup minimum value. More... | |
| float | imx |
| Integral windup maximum value. More... | |
| float | ki |
| Integral gain. More... | |
| float | kp |
| Proportional gain. More... | |
| float | ky |
| measurement scaling More... | |
| float | umn |
| Output limiter min. More... | |
| float | umx |
| Output limiter max. More... | |
| float | wmn |
| Reference signal minimum value. More... | |
| float | wmx |
| Reference signal maximum value. More... | |
The SVHCurrentSettings save the current controller paramters for a single motor.
Definition at line 37 of file SVHCurrentSettings.h.
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inline |
SVHCurrentSettings Construct current settings from a plain vector if the Vector is smaler than 10 values will be filled with 0.0.
| 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.
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inline |
SVHCurrentSettings Constructs a new current settings object to configure the current controller of a finger.
| 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 |
Definition at line 111 of file SVHCurrentSettings.h.
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inline |
SVHCurrentSettings Default constructor, initalizes everything to zero.
Definition at line 119 of file SVHCurrentSettings.h.
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inline |
Compares two SVHCurrentSettings objects.
Definition at line 61 of file SVHCurrentSettings.h.
| float driver_svh::SVHCurrentSettings::dt |
time base of controller
Definition at line 46 of file SVHCurrentSettings.h.
| float driver_svh::SVHCurrentSettings::imn |
Integral windup minimum value.
Definition at line 48 of file SVHCurrentSettings.h.
| float driver_svh::SVHCurrentSettings::imx |
Integral windup maximum value.
Definition at line 50 of file SVHCurrentSettings.h.
| float driver_svh::SVHCurrentSettings::ki |
Integral gain.
Definition at line 54 of file SVHCurrentSettings.h.
| float driver_svh::SVHCurrentSettings::kp |
Proportional gain.
Definition at line 52 of file SVHCurrentSettings.h.
| float driver_svh::SVHCurrentSettings::ky |
measurement scaling
Definition at line 44 of file SVHCurrentSettings.h.
| float driver_svh::SVHCurrentSettings::umn |
Output limiter min.
Definition at line 56 of file SVHCurrentSettings.h.
| float driver_svh::SVHCurrentSettings::umx |
Output limiter max.
Definition at line 58 of file SVHCurrentSettings.h.
| float driver_svh::SVHCurrentSettings::wmn |
Reference signal minimum value.
Definition at line 40 of file SVHCurrentSettings.h.
| float driver_svh::SVHCurrentSettings::wmx |
Reference signal maximum value.
Definition at line 42 of file SVHCurrentSettings.h.