@Override public void set(OrientationPIDGainsInterface orientationGains) { this.orientationGains.set(orientationGains); } }
public void setOrientationDerivativeGains(double[] derivativeGains) { orientationGains.setDerivativeGains(derivativeGains); }
public void setOrientationIntegralGains(double[] integralGains, double maxIntegralError) { orientationGains.setIntegralGains(integralGains, maxIntegralError); }
@Override public void set(OrientationPIDGainsInterface gains) { setProportionalGains(gains.getProportionalGains()); setDerivativeGains(gains.getDerivativeGains()); setIntegralGains(gains.getIntegralGains(), gains.getMaximumIntegralError()); setMaxFeedbackAndFeedbackRate(gains.getMaximumFeedback(), gains.getMaximumFeedbackRate()); setMaxDerivativeError(gains.getMaximumDerivativeError()); setMaxProportionalError(gains.getMaximumProportionalError()); }
public void setOrientationProportionalGains(double proportionalGainX, double proportionalGainY, double proportionalGainZ) { orientationGains.setProportionalGains(proportionalGainX, proportionalGainY, proportionalGainZ); }
public YoIndependentSE3PIDGains(String prefix, YoVariableRegistry registry) { positionGains = new YoEuclideanPositionGains(prefix, registry); orientationGains = new YoAxisAngleOrientationGains(prefix, registry); }
public void setOrientationMaxProportionalError(double maxProportionalError) { orientationGains.setMaxProportionalError(maxProportionalError); }
public void setOrientationMaxFeedbackAndFeedbackRate(double maxFeedback, double maxFeedbackRate) { orientationGains.setMaxFeedbackAndFeedbackRate(maxFeedback, maxFeedbackRate); }
public void setOrientationMaxDerivativeError(double maxDerivativeError) { orientationGains.setMaxDerivativeError(maxDerivativeError); }
public void reset() { positionGains.reset(); orientationGains.reset(); }
public void setOrientationProportionalGains(double[] proportionalGains) { orientationGains.setProportionalGains(proportionalGains); }
public AxisAngleOrientationController(String prefix, ReferenceFrame bodyFrame, double dt, YoOrientationPIDGainsInterface gains, YoVariableRegistry parentRegistry) { this.dt = dt; this.bodyFrame = bodyFrame; registry = new YoVariableRegistry(prefix + getClass().getSimpleName()); if (gains == null) gains = new YoAxisAngleOrientationGains(prefix, registry); this.gains = gains; proportionalGainMatrix = gains.createProportionalGainMatrix(); derivativeGainMatrix = gains.createDerivativeGainMatrix(); integralGainMatrix = gains.createIntegralGainMatrix(); rotationErrorInBody = new YoFrameVector(prefix + "RotationErrorInBody", bodyFrame, registry); rotationErrorCumulated = new YoFrameVector(prefix + "RotationErrorCumulated", bodyFrame, registry); velocityError = new YoFrameVector(prefix + "AngularVelocityError", bodyFrame, registry); proportionalTerm = new FrameVector(bodyFrame); derivativeTerm = new FrameVector(bodyFrame); integralTerm = new FrameVector(bodyFrame); feedbackAngularAction = new YoFrameVector(prefix + "FeedbackAngularAction", bodyFrame, registry); rateLimitedFeedbackAngularAction = RateLimitedYoFrameVector.createRateLimitedYoFrameVector(prefix + "RateLimitedFeedbackAngularAction", "", registry, gains.getYoMaximumFeedbackRate(), dt, feedbackAngularAction); parentRegistry.addChild(registry); }
public void setOrientationIntegralGains(double integralGainX, double integralGainY, double integralGainZ, double maxIntegralError) { orientationGains.setIntegralGains(integralGainX, integralGainY, integralGainZ, maxIntegralError); }
public void setOrientationDerivativeGains(double derivativeGainX, double derivativeGainY, double derivativeGainZ) { orientationGains.setDerivativeGains(derivativeGainX, derivativeGainY, derivativeGainZ); }