public CylindricalPDGains(double kpRadius, double kpAngle, double kpZ, double zeta) { this.kpRadius = kpRadius; this.kpAngle = kpAngle; this.kpZ = kpZ; this.kdRadius = GainCalculator.computeDerivativeGain(kpRadius, zeta); this.kdAngle = GainCalculator.computeDerivativeGain(kpAngle, zeta); this.kdZ = GainCalculator.computeDerivativeGain(kpZ, zeta); }
public void set(double kpPosition, double zetaPosition, double kiPosition, double maxIntegralPosError, double kpOrientation, double zetaOrientation, double kiOrientation, double maxIntegralOriError) { double kdPosition = GainCalculator.computeDerivativeGain(kpPosition, zetaPosition); setPositionGains(kpPosition, kdPosition, kiPosition, maxIntegralPosError); double kdOrientation = GainCalculator.computeDerivativeGain(kpOrientation, zetaOrientation); setOrientationGains(kpOrientation, kdOrientation, kiOrientation, maxIntegralOriError); }
public void variableChanged(YoVariable<?> v) { kd.set(GainCalculator.computeDerivativeGain(kp.getDoubleValue(), zeta.getDoubleValue())); } };
@Override public void variableChanged(YoVariable<?> v) { derivativeXYGain.set(GainCalculator.computeDerivativeGain(proportionalXYGain.getDoubleValue(), dampingRatioXY.getDoubleValue())); } };
@Override public void variableChanged(YoVariable<?> v) { derivativeXYGain.set(GainCalculator.computeDerivativeGain(proportionalXYGain.getDoubleValue(), dampingRatio.getDoubleValue())); } };
@Override public void variableChanged(YoVariable<?> v) { derivativeXGain.set(GainCalculator.computeDerivativeGain(proportionalXGain.getDoubleValue(), dampingRatio.getDoubleValue())); } };
@Override public void variableChanged(YoVariable<?> v) { derivativeZGain.set(GainCalculator.computeDerivativeGain(proportionalZGain.getDoubleValue(), dampingRatio.getDoubleValue())); } };
@Override public void variableChanged(YoVariable<?> v) { derivativeGain.set(GainCalculator.computeDerivativeGain(proportionalGain.getDoubleValue(), dampingRatio.getDoubleValue())); } };
@Override public void variableChanged(YoVariable<?> v) { derivativeZGain.set(GainCalculator.computeDerivativeGain(proportionalZGain.getDoubleValue(), dampingRatio.getDoubleValue())); } };
@Override public void variableChanged(YoVariable<?> v) { derivativeZGain.set(GainCalculator.computeDerivativeGain(proportionalZGain.getDoubleValue(), dampingRatioZ.getDoubleValue())); } };
@Override public void variableChanged(YoVariable<?> v) { derivativeYGain.set(GainCalculator.computeDerivativeGain(proportionalYGain.getDoubleValue(), dampingRatioY.getDoubleValue())); } };