The SVHPositionSettings save the position controller paramters for a single motor. More...
#include <SVHPositionSettings.h>
Public Member Functions | |
| bool | operator== (const SVHPositionSettings &other) const |
| Compares two SVHPositionsetting objects. More... | |
| 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. More... | |
| 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. More... | |
| SVHPositionSettings () | |
| SVHPositionSettings Defaault constructor. Intitializes everything to zero. More... | |
Public Attributes | |
| float | dt |
| Time base of controller. More... | |
| float | dwmx |
| Reference signal delta maximum threshold. More... | |
| float | imn |
| Integral windup minimum value. More... | |
| float | imx |
| Integral windup maximum value. More... | |
| float | kd |
| Differential gain. More... | |
| float | ki |
| Integral gain. More... | |
| float | kp |
| Proportional gain. More... | |
| float | ky |
| Measurement scaling. More... | |
| float | wmn |
| Reference signal minimum value. More... | |
| float | wmx |
| Reference signal maximum value. More... | |
The SVHPositionSettings save the position controller paramters for a single motor.
Definition at line 37 of file SVHPositionSettings.h.
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inline |
SVHPositionSettings Construct positions settings from a plain vector if the Vector is smaler than 10 values will be filled with 0.0.
| 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.
|
inline |
SVHPositionSettings Constructs a new positition settings object to configure the position controller of a finger.
| 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 |
Definition at line 112 of file SVHPositionSettings.h.
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inline |
SVHPositionSettings Defaault constructor. Intitializes everything to zero.
Definition at line 120 of file SVHPositionSettings.h.
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inline |
Compares two SVHPositionsetting objects.
Definition at line 62 of file SVHPositionSettings.h.
| float driver_svh::SVHPositionSettings::dt |
Time base of controller.
Definition at line 49 of file SVHPositionSettings.h.
| float driver_svh::SVHPositionSettings::dwmx |
Reference signal delta maximum threshold.
Definition at line 45 of file SVHPositionSettings.h.
| float driver_svh::SVHPositionSettings::imn |
Integral windup minimum value.
Definition at line 51 of file SVHPositionSettings.h.
| float driver_svh::SVHPositionSettings::imx |
Integral windup maximum value.
Definition at line 53 of file SVHPositionSettings.h.
| float driver_svh::SVHPositionSettings::kd |
Differential gain.
Definition at line 59 of file SVHPositionSettings.h.
| float driver_svh::SVHPositionSettings::ki |
Integral gain.
Definition at line 57 of file SVHPositionSettings.h.
| float driver_svh::SVHPositionSettings::kp |
Proportional gain.
Definition at line 55 of file SVHPositionSettings.h.
| float driver_svh::SVHPositionSettings::ky |
Measurement scaling.
Definition at line 47 of file SVHPositionSettings.h.
| float driver_svh::SVHPositionSettings::wmn |
Reference signal minimum value.
Definition at line 41 of file SVHPositionSettings.h.
| float driver_svh::SVHPositionSettings::wmx |
Reference signal maximum value.
Definition at line 43 of file SVHPositionSettings.h.