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

Class for integral controller. More...

Inheritance diagram for BHIController:

[legend]Collaboration diagram for BHIController:


Public Member Functions
	BHIController (const double factor, const unsigned int size=1)
int	getISize ()
double	getOutput (const double error)
void	reset ()
void	setISize (const unsigned int size)
	~BHIController ()
Protected Attributes
double *	IntArray
int	IntSize

Detailed Description

Class for integral controller.

This class implements a simple i-controller.

BHIController::BHIController	(	const double	factor,
		const unsigned int	size = `1`
	)			`[inline]`

Constructor.

Parameters:

	factor	Factor for controller output.
	size	Size over how many steps the Integration is done.

BHIController::~BHIController ( ) [inline]

Destructor

int BHIController::getISize ( ) [inline]

Returns the number of integrations done by controller. @ return Number of integrations of controller.

double BHIController::getOutput ( const double error ) [inline, virtual]

Computes the output of the controller

Parameters:

error

Error of measurement between current and desired value

Reimplemented in BHPIDController.

void BHIController::reset ( ) [inline]

Resets the controller. I.e sets all integration values to zero

void BHIController::setISize ( const unsigned int size ) [inline]

Method to adjust integration size.

double* BHIController::IntArray [protected]

Array storing the last "size" values of integration

int BHIController::IntSize [protected]

Size (number of integrations) for the controller

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

Generated Wed Aug 16 14:59:46 2006 by

1.4.7