@Override public void setTangentialDampingGains(TangentialDampingGains tangentialDampingGains) { this.tangentialDampingGains.set(tangentialDampingGains); }
/** {@inheritDoc} */ public void set(double kdReductionRatio, double parallelDampingDeadband, double positionErrorForMinimumKd) { setKdReductionRatio(kdReductionRatio); setParallelDampingDeadband(parallelDampingDeadband); setPositionErrorForMinimumKd(positionErrorForMinimumKd); }
public YoFootPositionGains(String suffix, YoVariableRegistry registry) { proportionalXYGain = new DoubleYoVariable("kpXYLinear" + suffix, registry); proportionalZGain = new DoubleYoVariable("kpZLinear" + suffix, registry); derivativeXYGain = new DoubleYoVariable("kdXYLinear" + suffix, registry); derivativeZGain = new DoubleYoVariable("kdZLinear" + suffix, registry); dampingRatio = new DoubleYoVariable("zetaLinear" + suffix, registry); maximumFeedback = new DoubleYoVariable("maximumLinearFeedback" + suffix, registry); maximumFeedbackRate = new DoubleYoVariable("maximumLinearFeedbackRate" + suffix, registry); maxDerivativeError = new DoubleYoVariable("maximumLinearDerivativeError" + suffix, registry); maxProportionalError = new DoubleYoVariable("maximumLinearProportionalError" + suffix, registry); tangentialDampingGains = new YoTangentialDampingGains(suffix, registry); maximumFeedback.set(Double.POSITIVE_INFINITY); maximumFeedbackRate.set(Double.POSITIVE_INFINITY); maxDerivativeError.set(Double.POSITIVE_INFINITY); maxProportionalError.set(Double.POSITIVE_INFINITY); }
public YoTangentialDampingGains(String suffix, YoVariableRegistry registry) { kdParallelMaxReductionRatio = new DoubleYoVariable("kdParallelMaxReductionRatio" + suffix, registry); dampingParallelToMotionDeadband = new DoubleYoVariable("parallelDampingDeadband" + suffix, registry); positionErrorForMinimumKd = new DoubleYoVariable("maxParallelDampingError" + suffix, registry); reset(); }
public YoSymmetricSE3PIDGains(String suffix, YoVariableRegistry registry) { proportionalGain = new DoubleYoVariable("kp" + suffix, registry); derivativeGain = new DoubleYoVariable("kd" + suffix, registry); dampingRatio = new DoubleYoVariable("zeta" + suffix, registry); integralGain = new DoubleYoVariable("ki" + suffix, registry); maxIntegralError = new DoubleYoVariable("maxIntegralError" + suffix, registry); maxDerivativeError = new DoubleYoVariable("maxDerivativeError" + suffix, registry); maxProportionalError = new DoubleYoVariable("maxProportionalError" + suffix, registry); maximumFeedback = new DoubleYoVariable("maximumFeedback" + suffix, registry); maximumFeedbackRate = new DoubleYoVariable("maximumFeedbackRate" + suffix, registry); tangentialDampingGains = new YoTangentialDampingGains(suffix, registry); maximumFeedback.set(Double.POSITIVE_INFINITY); maximumFeedbackRate.set(Double.POSITIVE_INFINITY); maxDerivativeError.set(Double.POSITIVE_INFINITY); maxProportionalError.set(Double.POSITIVE_INFINITY); }
public YoTangentialDampingGains(String suffix, YoVariableRegistry registry) { kdParallelMaxReductionRatio = new YoDouble("kdParallelMaxReductionRatio" + suffix, registry); dampingParallelToMotionDeadband = new YoDouble("parallelDampingDeadband" + suffix, registry); positionErrorForMinimumKd = new YoDouble("maxParallelDampingError" + suffix, registry); reset(); }
@Override public void setTangentialDampingGains(double kdReductionRatio, double parallelDampingDeadband, double positionErrorForMinimumKd) { this.tangentialDampingGains.set(kdReductionRatio, parallelDampingDeadband, positionErrorForMinimumKd); }
/** {@inheritDoc} */ public void set(double kdReductionRatio, double parallelDampingDeadband, double positionErrorForMinimumKd) { setKdReductionRatio(kdReductionRatio); setParallelDampingDeadband(parallelDampingDeadband); setPositionErrorForMinimumKd(positionErrorForMinimumKd); }
public YoPlanarFootPositionGains(String suffix, YoVariableRegistry registry) { proportionalXGain = new DoubleYoVariable("kpXLinear" + suffix, registry); proportionalZGain = new DoubleYoVariable("kpZLinear" + suffix, registry); derivativeXGain = new DoubleYoVariable("kdXLinear" + suffix, registry); derivativeZGain = new DoubleYoVariable("kdZLinear" + suffix, registry); dampingRatio = new DoubleYoVariable("zetaLinear" + suffix, registry); maximumFeedback = new DoubleYoVariable("maximumLinearFeedback" + suffix, registry); maximumFeedbackRate = new DoubleYoVariable("maximumLinearFeedbackRate" + suffix, registry); maxDerivativeError = new DoubleYoVariable("maximumLinearDerivativeError" + suffix, registry); maxProportionalError = new DoubleYoVariable("maximumLinearProportionalError" + suffix, registry); tangentialDampingGains = new YoTangentialDampingGains(suffix, registry); maximumFeedback.set(Double.POSITIVE_INFINITY); maximumFeedbackRate.set(Double.POSITIVE_INFINITY); maxDerivativeError.set(Double.POSITIVE_INFINITY); maxProportionalError.set(Double.POSITIVE_INFINITY); }
@Override public void reset() { for (int i = 0; i < proportionalGains.length; i++) { proportionalGains[i].set(0.0); derivativeGains[i].set(0.0); integralGains[i].set(0.0); } maxIntegralError.set(0.0); maxFeedback.set(Double.POSITIVE_INFINITY); maxFeedbackRate.set(Double.POSITIVE_INFINITY); maxDerivativeError.set(Double.POSITIVE_INFINITY); maxProportionalError.set(Double.POSITIVE_INFINITY); if (tangentialDampingGains != null) tangentialDampingGains.reset(); }
@Override public void setTangentialDampingGains(double kdReductionRatio, double parallelDampingDeadband, double positionErrorForMinKd) { this.tangentialDampingGains.set(kdReductionRatio, parallelDampingDeadband, positionErrorForMinKd); }
public YoEuclideanPositionGains(String prefix, YoVariableRegistry registry) { String baseProportionalGainName = prefix + "PositionProportionalGain"; String baseDerivativeGainName = prefix + "PositionDerivativeGain"; String baseIntegralGainName = prefix + "PositionIntegralGain"; for (int i = 0; i < 3; i++) { proportionalGains[i] = new DoubleYoVariable(baseProportionalGainName + directionNames[i], registry); derivativeGains[i] = new DoubleYoVariable(baseDerivativeGainName + directionNames[i], registry); integralGains[i] = new DoubleYoVariable(baseIntegralGainName + directionNames[i], registry); } maxIntegralError = new DoubleYoVariable(prefix + "PositionMaxIntegralError", registry); maxDerivativeError = new DoubleYoVariable(prefix + "PositionMaxDerivativeError", registry); maxProportionalError = new DoubleYoVariable(prefix + "PositionMaxProportionalError", registry); maxFeedback = new DoubleYoVariable(prefix + "PositionMaxFeedback", registry); maxFeedbackRate = new DoubleYoVariable(prefix + "PositionMaxFeedbackRate", registry); tangentialDampingGains = new YoTangentialDampingGains(prefix, registry); maxFeedback.set(Double.POSITIVE_INFINITY); maxFeedbackRate.set(Double.POSITIVE_INFINITY); maxDerivativeError.set(Double.POSITIVE_INFINITY); maxProportionalError.set(Double.POSITIVE_INFINITY); }
@Override public void setTangentialDampingGains(TangentialDampingGains tangentialDampingGains) { this.tangentialDampingGains.set(tangentialDampingGains); }
@Override public void setTangentialDampingGains(TangentialDampingGains tangentialDampingGains) { this.tangentialDampingGains.set(tangentialDampingGains); }
@Override public void setTangentialDampingGains(double kdReductionRatio, double parallelDampingDeadband, double positionErrorForMinimumKd) { tangentialDampingGains.set(kdReductionRatio, parallelDampingDeadband, positionErrorForMinimumKd); }
@Override public void setTangentialDampingGains(double kdReductionRatio, double parallelDampingDeadband, double positionErrorForMinimumKd) { tangentialDampingGains.set(kdReductionRatio, parallelDampingDeadband, positionErrorForMinimumKd); }
@Override public void setTangentialDampingGains(TangentialDampingGains tangentialDampingGains) { this.tangentialDampingGains.set(tangentialDampingGains); }
public void set(TangentialDampingGains tangentialDampingGains) { if (tangentialDampingGains != null) { set(tangentialDampingGains.getKdReductionRatio(), tangentialDampingGains.getParallelDampingDeadband(), tangentialDampingGains.getPositionErrorForMinimumKd()); } }
public void set(TangentialDampingGains tangentialDampingGains) { if (tangentialDampingGains != null) { set(tangentialDampingGains.getKdReductionRatio(), tangentialDampingGains.getParallelDampingDeadband(), tangentialDampingGains.getPositionErrorForMinimumKd()); } }