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

Generic class for a pid controller. More...

#include <bhcontroller.h>

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Public Member Functions

 BHPIDController (const double pfactor, const double dfactor, const double ifactor, const int size=1)
double getDFactor ()
double getIFactor ()
double getOutput (const double error)
double getPFactor ()
void setDFactor (const double factor)
void setIFactor (const double factor)
void setPFactor (const double factor)
void showValues ()

Detailed Description

Generic class for a pid controller.

This class implements a PID-Controller.

Constructor & Destructor Documentation

BHPIDController::BHPIDController ( const double  pfactor,
const double  dfactor,
const double  ifactor,
const int  size = 1 
) [inline]

Constructor.

Parameters:
pfactor Factor for p-controller output.
dfactor Factor for d-controller output.
ifactor Factor for i-controller output.
size Size over how many steps the Integration is done.

Member Function Documentation

double BHPIDController::getDFactor (  )  [inline]

Returns the factor for the D-Controller

Returns:
factor of D-Controller

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double BHPIDController::getIFactor (  )  [inline]

Returns the factor for the I-Controller

Returns:
factor of I-Controller

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double BHPIDController::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 BHPIDController::getPFactor (  )  [inline]

Returns the factor for the P-Controller

Returns:
factor of P-Controller

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void BHPIDController::setDFactor ( const double  factor  )  [inline]

Sets factor for D-Controller

Parameters:
factor Factor for D-Controller.

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void BHPIDController::setIFactor ( const double  factor  )  [inline]

Sets factor for I-Controller

Parameters:
factor Factor for I-Controller.

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void BHPIDController::setPFactor ( const double  factor  )  [inline]

Sets factor for P-Controller

Parameters:
factor Factor for P-Controller.

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void BHPIDController::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:
tams Tim Baier bhandlib v0.25
 		Generated Wed Aug 16 15:00:35 2006 by doxygen 1.4.7