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private void myMethod () {FileOutputStream f =
File file;new FileOutputStream(file)
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}
@Override public double computeForAngles(double currentPosition, double desiredPosition, double currentRate, double desiredRate, double deltaTime) { checkGainReductionUpToDate(); setGainsReducedIfBacklash(); return super.computeForAngles(currentPosition, desiredPosition, currentRate, desiredRate, deltaTime); }
@Override public double computeForAngles(double currentPosition, double desiredPosition, double currentRate, double desiredRate, double deltaTime) { checkGainReductionUpToDate(); setGainsReducedIfBacklash(); return super.computeForAngles(currentPosition, desiredPosition, currentRate, desiredRate, deltaTime); }
double currentRate = simulatedJoint.getQDYoVariable().getDoubleValue(); outputEffort = jointController.computeForAngles(currentPosition, desiredPosition, currentRate, desiredRate, controlDT);
contactForce.setZ(linearForceZ); double torqueX = pidControllerAngularX.computeForAngles(currentOrientation.getX(), desiredOrientation.getX(), 0.0, 0.0, 0.0); double torqueY = pidControllerAngularY.computeForAngles(currentOrientation.getY(), desiredOrientation.getY(), 0.0, 0.0, 0.0); double torqueZ = pidControllerAngularZ.computeForAngles(currentOrientation.getZ(), desiredOrientation.getZ(), 0.0, 0.0, 0.0);