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 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 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); }
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); }