public RigidBodyOrientationControlModule(String namePrefix, RigidBody endEffector, TwistCalculator twistCalculator, double dt, YoOrientationPIDGainsInterface gains, YoVariableRegistry parentRegistry) { this.endEffector = endEffector; this.axisAngleOrientationController = new AxisAngleOrientationController(namePrefix, endEffector.getBodyFixedFrame(), dt, gains, parentRegistry); this.twistCalculator = twistCalculator; }
public SE3PIDController(String namePrefix, ReferenceFrame bodyFrame, double dt, YoSE3PIDGainsInterface gains, YoVariableRegistry registry) { this.bodyFrame = bodyFrame; if (gains != null) { orientationController = new AxisAngleOrientationController(namePrefix, bodyFrame, dt, gains.getOrientationGains(), registry); positionController = new EuclideanPositionController(namePrefix, bodyFrame, dt, gains.getPositionGains(), registry); } else { orientationController = new AxisAngleOrientationController(namePrefix, bodyFrame, dt, registry); positionController = new EuclideanPositionController(namePrefix, bodyFrame, dt, registry); } }
public SE3PIDController(String namePrefix, ReferenceFrame bodyFrame, double dt, YoPIDSE3Gains gains, YoVariableRegistry registry) { this.bodyFrame = bodyFrame; if (gains != null) { orientationController = new AxisAngleOrientationController(namePrefix, bodyFrame, dt, gains.getOrientationGains(), registry); positionController = new EuclideanPositionController(namePrefix, bodyFrame, dt, gains.getPositionGains(), registry); } else { orientationController = new AxisAngleOrientationController(namePrefix, bodyFrame, dt, registry); positionController = new EuclideanPositionController(namePrefix, bodyFrame, dt, registry); } }