driver_svh::SVHPositionSettings Struct Reference

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 ()
	SVHPositionSettings Defaault constructor. Intitializes everything to zero. 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 (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...

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...

Detailed Description

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

Definition at line 44 of file SVHPositionSettings.h.

Constructor & Destructor Documentation

SVHPositionSettings() [1/3]

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.

SVHPositionSettings() [2/3]

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

Definition at line 108 of file SVHPositionSettings.h.

SVHPositionSettings() [3/3]

driver_svh::SVHPositionSettings::SVHPositionSettings ( )

inline

SVHPositionSettings Defaault constructor. Intitializes everything to zero.

Definition at line 134 of file SVHPositionSettings.h.

Member Function Documentation

operator==()

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

inline

Compares two SVHPositionsetting objects.

Definition at line 69 of file SVHPositionSettings.h.

Member Data Documentation

dt

float driver_svh::SVHPositionSettings::dt

Time base of controller.

Definition at line 56 of file SVHPositionSettings.h.

dwmx

float driver_svh::SVHPositionSettings::dwmx

Reference signal delta maximum threshold.

Definition at line 52 of file SVHPositionSettings.h.

imn

float driver_svh::SVHPositionSettings::imn

Integral windup minimum value.

Definition at line 58 of file SVHPositionSettings.h.

imx

float driver_svh::SVHPositionSettings::imx

Integral windup maximum value.

Definition at line 60 of file SVHPositionSettings.h.

kd

float driver_svh::SVHPositionSettings::kd

Differential gain.

Definition at line 66 of file SVHPositionSettings.h.

ki

float driver_svh::SVHPositionSettings::ki

Integral gain.

Definition at line 64 of file SVHPositionSettings.h.

kp

float driver_svh::SVHPositionSettings::kp

Proportional gain.

Definition at line 62 of file SVHPositionSettings.h.

ky

float driver_svh::SVHPositionSettings::ky

Measurement scaling.

Definition at line 54 of file SVHPositionSettings.h.

wmn

float driver_svh::SVHPositionSettings::wmn

Reference signal minimum value.

Definition at line 48 of file SVHPositionSettings.h.

wmx

float driver_svh::SVHPositionSettings::wmx

Reference signal maximum value.

Definition at line 50 of file SVHPositionSettings.h.

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

• SVHPositionSettings.h