Public Member Functions | Public Attributes
driver_svh::SVHCurrentSettings Struct Reference

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

#include <SVHCurrentSettings.h>

List of all members.

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_settingsVector 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:
wmnReference signal minimum value
wmxReference signal maximum value
kymeasurement scaling
dttime base of controller
imnIntegral windup minimum value
imxIntegral windup maximum value
kpProportional gain
kiIntegral gain
umnOutput limiter min
umxOutput limiter max

Definition at line 111 of file SVHCurrentSettings.h.

SVHCurrentSettings Default constructor, initalizes everything to zero.

Definition at line 119 of file SVHCurrentSettings.h.


Member Function Documentation

bool driver_svh::SVHCurrentSettings::operator== ( const SVHCurrentSettings other) const [inline]

Compares two SVHCurrentSettings objects.

Definition at line 61 of file SVHCurrentSettings.h.


Member Data Documentation

time base of controller

Definition at line 46 of file SVHCurrentSettings.h.

Integral windup minimum value.

Definition at line 48 of file SVHCurrentSettings.h.

Integral windup maximum value.

Definition at line 50 of file SVHCurrentSettings.h.

Integral gain.

Definition at line 54 of file SVHCurrentSettings.h.

Proportional gain.

Definition at line 52 of file SVHCurrentSettings.h.

measurement scaling

Definition at line 44 of file SVHCurrentSettings.h.

Output limiter min.

Definition at line 56 of file SVHCurrentSettings.h.

Output limiter max.

Definition at line 58 of file SVHCurrentSettings.h.

Reference signal minimum value.

Definition at line 40 of file SVHCurrentSettings.h.

Reference signal maximum value.

Definition at line 42 of file SVHCurrentSettings.h.


The documentation for this struct was generated from the following file:


schunk_svh_driver
Author(s): Georg Heppner
autogenerated on Fri Aug 28 2015 12:59:20