BHController Class Reference
[Module to get "higer-level" (force) control of a BarrettHand]

Generic class for all kinds of controllers. More...

#include <bhcontroller.h>

Inheritance diagram for BHController:

[legend]Collaboration diagram for BHController:

[legend]

Public Member Functions
	BHController (const double factor)
double	getFactor ()
virtual double	getOutput (const double error)=0
void	setFactor (const double factor)
virtual	~BHController ()
Protected Attributes
double	Factor

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Detailed Description

Generic class for all kinds of controllers.

Base class for implementation of controllers.

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Constructor & Destructor Documentation

BHController::BHController

(

const double

factor

)

[inline]

Constructor.

Parameters:

factor

Factor for controller output.

BHController::~BHController

(

)

[inline, virtual]

Destructor

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Member Function Documentation

double BHController::getFactor

(

)

[inline]

Returns the factor for the controller.

Returns:

Factor of controller

virtual double BHController::getOutput

(

const double

error

)

[pure virtual]

Computes the output of the controller

Parameters:

error

Error of measurement between current and desired value

Implemented in BHPController, BHDController, BHIController, BHPDController, and BHPIDController.

void BHController::setFactor

(

const double

factor

)

[inline]

Method to set factor.

Parameters:

factor

Factor for controller output

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Field Documentation

double BHController::Factor [protected]

Factor for controller

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

• bhcontroller.h

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Tim Baier bhandlib v0.25

Generated Wed Aug 16 14:59:30 2006 by 1.4.7