Class PinVelControlParamsVars

• Defined in File PinVelControl.h

Inheritance Relationships

Base Type

• public Karana::Core::BaseVars (Class BaseVars)

Class Documentation

class PinVelControlParamsVars : public Karana::Core::BaseVars

The Vars for the PinVelControlParams class.

Public Functions

PinVelControlParamsVars(const kc::ks_ptr<const PinVelControlParams> &body)

PinVelControlParamsVars constructor. The constructor is not meant to be called directly. Please use the create(…) method instead to create an instance.

Parameters:

body – The body associated with this PinVelControlParamsVars.

~PinVelControlParamsVars()

Destructor.

virtual kc::NestedVars getAllVars() const override

Get all the Vars that this PinVelControlParamsVars has.

Returns:

A map of Vars, where the Var name is the key and the Var is the value.

Public Members

kc::ks_ptr<Karana::Core::Var_T<double>> kp

Proportional gain.

kc::ks_ptr<Karana::Core::Var_T<double>> ki

Integral gain.

Public Static Functions

static kc::ks_ptr<PinVelControlParamsVars> create(const kc::ks_ptr<const PinVelControlParams> &body)

Create an instance of the PinVelControlParamsVars.

Parameters:

body – The body associated with this PinVelControlParamsVars.

Returns:

A pointer to the newly created instance of PinVelControlParamsVars.