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

Generic class for a pd controller. More...

#include <bhcontroller.h>

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Public Member Functions
	BHPDController (const double pfactor, const double dfactor)
double	getDFactor ()
double	getOutput (const double error)
double	getPFactor ()
void	setDFactor (const double factor)
void	setPFactor (const double factor)
void	showValues ()

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Detailed Description

Generic class for a pd controller.

This class implements a PD-Controller.

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Constructor & Destructor Documentation

BHPDController::BHPDController	(	const double	pfactor,
		const double	dfactor
	)			[inline]

Constructor.

Parameters:

	pfactor	Factor for p-controller output.
	dfactor	Factor for d-controller output.

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Member Function Documentation

double BHPDController::getDFactor

(

)

[inline]

Returns the factor for the D-Controller

Returns:

factor of D-Controller

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double BHPDController::getOutput

(

const double

error

)

[inline, virtual]

Computes the output of the controller

Parameters:

error

Error of measurement between current and desired value

Reimplemented from BHPController.

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double BHPDController::getPFactor

(

)

[inline]

Returns the factor for the P-Controller

Returns:

factor of P-Controller

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void BHPDController::setDFactor

(

const double

factor

)

[inline]

Sets factor for D-Controller

Parameters:

factor

Factor for D-Controller.

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void BHPDController::setPFactor

(

const double

factor

)

[inline]

Sets factor for P-Controller

Parameters:

factor

Factor for P-Controller.

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void BHPDController::showValues

(

)

[inline]

Prints all values (factors and integation size) to stdout

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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 15:00:21 2006 by 1.4.7