/** * Computes the new derivative gains to use that reduces the amount of damping in the direction with the most position error. * This prevents a high desired correcting velocity from being penalized when it deviates from the objective motion. * @param positionError current position error being used by the feedback control * @param derivativeGainsToPack derivative gain matrix to use with less damping in the main direction of motion */ public void compute(YoFrameVector3D positionError, Matrix3D derivativeGainsToPack) { this.positionError.setIncludingFrame(positionError); if (positionError.length() > tangentialDampingGains.getParallelDampingDeadband()) { bodyFrameTangentToControl.update(); double alpha = computeDampingReductionRatioParallelToMotion(positionError.length()); transformedGains.setToZero(bodyFrame); transformedGains.set(derivativeGainsToPack); transformedGains.changeFrame(bodyFrameTangentToControl); transformedGains.setElement(0, 0, alpha * transformedGains.getElement(0, 0)); transformedGains.setElement(1, 0, alpha * transformedGains.getElement(1, 0)); transformedGains.setElement(2, 0, alpha * transformedGains.getElement(2, 0)); transformedGains.changeFrame(bodyFrame); transformedGains.getMatrix(derivativeGainsToPack); } }
/** * Computes the new derivative gains to use that reduces the amount of damping in the direction with the most position error. * This prevents a high desired correcting velocity from being penalized when it deviates from the objective motion. * @param positionError current position error being used by the feedback control * @param derivativeGainsToPack derivative gain matrix to use with less damping in the main direction of motion */ public void compute(YoFrameVector positionError, Matrix3d derivativeGainsToPack) { this.positionError.setIncludingFrame(positionError.getFrameTuple()); if (positionError.length() > tangentialDampingGains.getParallelDampingDeadband()) { bodyFrameTangentToControl.update(); double alpha = computeDampingReductionRatioParallelToMotion(positionError.length()); transformedGains.setToZero(bodyFrame); transformedGains.set(derivativeGainsToPack); transformedGains.changeFrame(bodyFrameTangentToControl); transformedGains.setElement(0, 0, alpha * transformedGains.getElement(0, 0)); transformedGains.setElement(1, 0, alpha * transformedGains.getElement(1, 0)); transformedGains.setElement(2, 0, alpha * transformedGains.getElement(2, 0)); transformedGains.changeFrame(bodyFrame); transformedGains.getMatrix(derivativeGainsToPack); } }