hekateros::HekTunesJoint Class Reference

Hekateros tuning per joint data class. More...

#include <hekTune.h>

Public Member Functions
	HekTunesJoint ()
	Default constructor.
	~HekTunesJoint ()
	Destructor.
HekTunesJoint &	operator= (const HekTunesJoint &rhs)
	Assignment operator. More...

Public Attributes
double	m_fTolPos
	position tolerance (radians)
double	m_fTolVel
	velocitiy tolerance (radians/second)
double	m_fPidKp
	position and velocity PID proportional const
double	m_fPidKi
	position and velocity PID integral constant
double	m_fPidKd
	position and velocity PID derivative constant
double	m_fPidMaxDeltaV
	max output delta v (radians/second)
double	m_fOverTorqueTh
	over torque conditon threshold (fraction)

Detailed Description

Hekateros tuning per joint data class.

Definition at line 367 of file hekTune.h.

Member Function Documentation

HekTunesJoint & HekTunesJoint::operator=

(

const HekTunesJoint &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

*this

Definition at line 76 of file hekTune.cxx.

References m_fOverTorqueTh, m_fPidKd, m_fPidKi, m_fPidKp, m_fPidMaxDeltaV, m_fTolPos, and m_fTolVel.

Referenced by ~HekTunesJoint().

{
  m_fTolPos       = rhs.m_fTolPos;
  m_fTolVel       = rhs.m_fTolVel;
  m_fPidKp        = rhs.m_fPidKp;
  m_fPidKi        = rhs.m_fPidKi;
  m_fPidKd        = rhs.m_fPidKd;
  m_fPidMaxDeltaV = rhs.m_fPidMaxDeltaV;
  m_fOverTorqueTh = rhs.m_fOverTorqueTh;
}

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

• include/Hekateros/hekTune.h
• sw/libhekateros/hekTune.cxx