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

Class for differential controller. More...

#include <bhcontroller.h>

Inheritance diagram for BHDController:

[legend]Collaboration diagram for BHDController:

[legend]

Public Member Functions
	BHDController (const double factor)
double	getOutput (const double error)
Protected Attributes
double	LastValue

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Detailed Description

Class for differential controller.

This class implements a simple d-controller.

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Constructor & Destructor Documentation

BHDController::BHDController

(

const double

factor

)

[inline]

Constructor.

Parameters:

factor

Factor for controller output.

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Member Function Documentation

double BHDController::getOutput

(

const double

error

)

[inline, virtual]

Computes the output of the controller

Parameters:

error

Error of measurement between current and desired value

Implements BHController.

Reimplemented in BHPDController, and BHPIDController.

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Field Documentation

double BHDController::LastValue [protected]

Last value of controller. Needed for computation of d-value

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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 14:59:33 2006 by 1.4.7