ERC CISST - cisst software

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prmActuatorParameters Class Reference

#include <prmActuatorParameters.h>

Inheritance diagram for prmActuatorParameters:

[legend]Collaboration diagram for prmActuatorParameters:

[legend]List of all members.

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Detailed Description

So far all the memebers are public for sake of convenience Only use getters unless you know what you are doing.

TODO: add internal size to specify the size of each member in this class so the user does not have to have a this is not a great software engineering approach but for now it might be the most usefull cisst vector of this class caused compilation errors it is possible to resize each memeber so it is better to test each member for size this is by contract but does not have to be so...more discussion required

using mtsVectors here because prm lib does not define Long Vectors galil position is in counts...so

Definition at line 57 of file prmActuatorParameters.h.

Public Types

• typedef prmActuatorParameters ThisType
• typedef unsigned int size_type

Public Member Functions

• prmActuatorParameters ()
• prmActuatorParameters (size_type size)
• void SetSize (size_type size)
• virtual ~prmActuatorParameters ()

• CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsLongVec, ForwardLimit)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsLongVec, ReverseLimit)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsLongVec, MaxVelocity)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsLongVec, MaxAcceleration)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsLongVec, MaxDeceleration)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsLongVec, LimitSwitchDeccelaration)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, Counts_per_mm)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (int, AxisSign)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, Kp)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, Kd)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, Ki)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, IL)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, FV)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, FA)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, TorqueLimit)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, TorqueLimitPeak)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, TorqueOffset)

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Constructor & Destructor Documentation

prmActuatorParameters::prmActuatorParameters

(

)

[inline]

default constructor

Definition at line 71 of file prmActuatorParameters.h.

virtual prmActuatorParameters::~prmActuatorParameters

(

)

[inline, virtual]

destructor

Definition at line 79 of file prmActuatorParameters.h.

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Member Function Documentation

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		ForwardLimit
	)

Set and Get methods for postive limit.

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		ReverseLimit
	)

Set and Get methods for negative limit.

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		MaxVelocity
	)

Set and Get methods for velocity limit, use accelerationMax to accelerate until this limit. Can used this in velocity control mode.

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		MaxAcceleration
	)

Set and Get methods for Acceleration Maximum, this is used as the actual maximum acceleration used for all motion.

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		MaxDeceleration
	)

Set and Get methods for Deceleration Maximum, this is used as the actual maximum acceleration used for all motion.

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		LimitSwitchDeccelaration
	)

Set and Get methods for Deceleration Maximum, this is used as the actual maximum acceleration used for all motion.

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		Counts_per_mm
	)

Set and Get methods for counts to mm conversion

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

• prmActuatorParameters.h

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