driver_svh::SVHCurrentSettings Struct Reference

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 ()
	SVHCurrentSettings Default constructor, initalizes everything to zero. 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 (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...

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...

Detailed Description

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

Definition at line 44 of file SVHCurrentSettings.h.

Constructor & Destructor Documentation

SVHCurrentSettings() [1/3]

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 80 of file SVHCurrentSettings.h.

SVHCurrentSettings() [2/3]

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

Definition at line 104 of file SVHCurrentSettings.h.

SVHCurrentSettings() [3/3]

driver_svh::SVHCurrentSettings::SVHCurrentSettings ( )

inline

SVHCurrentSettings Default constructor, initalizes everything to zero.

Definition at line 130 of file SVHCurrentSettings.h.

Member Function Documentation

operator==()

bool driver_svh::SVHCurrentSettings::operator== ( const SVHCurrentSettings &  other ) const

inline

Compares two SVHCurrentSettings objects.

Definition at line 68 of file SVHCurrentSettings.h.

Member Data Documentation

dt

float driver_svh::SVHCurrentSettings::dt

time base of controller

Definition at line 53 of file SVHCurrentSettings.h.

imn

float driver_svh::SVHCurrentSettings::imn

Integral windup minimum value.

Definition at line 55 of file SVHCurrentSettings.h.

imx

float driver_svh::SVHCurrentSettings::imx

Integral windup maximum value.

Definition at line 57 of file SVHCurrentSettings.h.

ki

float driver_svh::SVHCurrentSettings::ki

Integral gain.

Definition at line 61 of file SVHCurrentSettings.h.

kp

float driver_svh::SVHCurrentSettings::kp

Proportional gain.

Definition at line 59 of file SVHCurrentSettings.h.

ky

float driver_svh::SVHCurrentSettings::ky

measurement scaling

Definition at line 51 of file SVHCurrentSettings.h.

umn

float driver_svh::SVHCurrentSettings::umn

Output limiter min.

Definition at line 63 of file SVHCurrentSettings.h.

umx

float driver_svh::SVHCurrentSettings::umx

Output limiter max.

Definition at line 65 of file SVHCurrentSettings.h.

wmn

float driver_svh::SVHCurrentSettings::wmn

Reference signal minimum value.

Definition at line 47 of file SVHCurrentSettings.h.

wmx

float driver_svh::SVHCurrentSettings::wmx

Reference signal maximum value.

Definition at line 49 of file SVHCurrentSettings.h.

---

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

• SVHCurrentSettings.h