MATLAB File Help: GainStruct
GainStruct
  GainStruct can be used to set gains of groups
 
    The struct created by this function can be used to set a variety of
    gains and control parameters on a group of modules.
 
    The online documentation provides more information about the 
    individual gain settings and control parameters:
    http://docs.hebi.us/core_concepts.html#controller_gains
 
    GainStructs can be loaded and saved to an XML file format with 
    functions provided in HebiUtils.  This format is the preferred way
    of storing and loading gains for different demos / applications.  More
    information on the XML format can be found at:
    https://github.com/HebiRobotics/hebi-xml/blob/master/GAINS.md
 
    Empty entries in the struct and NaNs for any individual values in 
    gains or control parmaters are ignored. In these cases any existing 
    setting on the module for that parameter will remain unmodified.  
 
    Example (Loading gains from XML file and setting on a group)
        gains = HebiUtils.loadGains('myGains.xml');
        group.send('gains', gains);
 
    Example (Saving gains to XML file)
        gains = group.getGains();
        HebiUtils.saveGains(gains, 'myGains.xml');
 
    Example (Manually setting gains):
        gains = GainStruct()
        gains.controlStrategy = [4 4];
        group.send('gains', gains);
See also