public BodyFixedPointLinearAccelerationControlModule(String namePrefix, TwistCalculator twistCalculator, RigidBody endEffector, double dt, YoPositionPIDGainsInterface gains, YoVariableRegistry parentRegistry) { registry = new YoVariableRegistry(namePrefix + getClass().getSimpleName()); this.dt = dt; this.twistCalculator = twistCalculator; this.endEffector = endEffector; if (gains == null) gains = new YoEuclideanPositionGains(namePrefix, registry); this.gains = gains; proportionalGainMatrix = gains.createProportionalGainMatrix(); derivativeGainMatrix = gains.createDerivativeGainMatrix(); integralGainMatrix = gains.createIntegralGainMatrix(); frameAtBodyFixedPoint = new YoTranslationFrame(namePrefix + "BodyFixedPointFrame", endEffector.getBodyFixedFrame(), registry); positionError = new YoFrameVector(namePrefix + "PositionError", worldFrame, registry); positionErrorCumulated = new YoFrameVector(namePrefix + "PositionErrorCumulated", worldFrame, registry); velocityError = new YoFrameVector(namePrefix + "LinearVelocityError", worldFrame, registry); feedbackLinearAcceleration = new YoFrameVector(namePrefix + "FeedbackLinearAcceleration", worldFrame, registry); rateLimitedFeedbackLinearAcceleration = RateLimitedYoFrameVector.createRateLimitedYoFrameVector(namePrefix + "RateLimitedFeedbackLinearAcceleration", "", registry, gains.getYoMaximumFeedbackRate(), dt, feedbackLinearAcceleration); parentRegistry.addChild(registry); }
public AxisAngleOrientationController(String prefix, ReferenceFrame bodyFrame, double dt, YoOrientationPIDGainsInterface gains, YoVariableRegistry parentRegistry) { this.dt = dt; this.bodyFrame = bodyFrame; registry = new YoVariableRegistry(prefix + getClass().getSimpleName()); if (gains == null) gains = new YoAxisAngleOrientationGains(prefix, registry); this.gains = gains; proportionalGainMatrix = gains.createProportionalGainMatrix(); derivativeGainMatrix = gains.createDerivativeGainMatrix(); integralGainMatrix = gains.createIntegralGainMatrix(); rotationErrorInBody = new YoFrameVector(prefix + "RotationErrorInBody", bodyFrame, registry); rotationErrorCumulated = new YoFrameVector(prefix + "RotationErrorCumulated", bodyFrame, registry); velocityError = new YoFrameVector(prefix + "AngularVelocityError", bodyFrame, registry); proportionalTerm = new FrameVector(bodyFrame); derivativeTerm = new FrameVector(bodyFrame); integralTerm = new FrameVector(bodyFrame); feedbackAngularAction = new YoFrameVector(prefix + "FeedbackAngularAction", bodyFrame, registry); rateLimitedFeedbackAngularAction = RateLimitedYoFrameVector.createRateLimitedYoFrameVector(prefix + "RateLimitedFeedbackAngularAction", "", registry, gains.getYoMaximumFeedbackRate(), dt, feedbackAngularAction); parentRegistry.addChild(registry); }
public EuclideanPositionController(String prefix, ReferenceFrame bodyFrame, double dt, YoPositionPIDGainsInterface gains, YoVariableRegistry parentRegistry) { this.dt = dt; this.bodyFrame = bodyFrame; registry = new YoVariableRegistry(prefix + getClass().getSimpleName()); if (gains == null) gains = new YoEuclideanPositionGains(prefix, registry); this.gains = gains; proportionalGainMatrix = gains.createProportionalGainMatrix(); derivativeGainMatrix = gains.createDerivativeGainMatrix(); integralGainMatrix = gains.createIntegralGainMatrix(); positionError = new YoFrameVector(prefix + "PositionError", bodyFrame, registry); positionErrorCumulated = new YoFrameVector(prefix + "PositionErrorCumulated", bodyFrame, registry); velocityError = new YoFrameVector(prefix + "LinearVelocityError", bodyFrame, registry); proportionalTerm = new FrameVector(bodyFrame); derivativeTerm = new FrameVector(bodyFrame); integralTerm = new FrameVector(bodyFrame); feedbackLinearAction = new YoFrameVector(prefix + "FeedbackLinearAction", bodyFrame, registry); rateLimitedFeedbackLinearAction = RateLimitedYoFrameVector.createRateLimitedYoFrameVector(prefix + "RateLimitedFeedbackLinearAction", "", registry, gains.getYoMaximumFeedbackRate(), dt, feedbackLinearAction); tangentialDampingCalculator = new EuclideanTangentialDampingCalculator(prefix, bodyFrame, gains.getTangentialDampingGains()); parentRegistry.addChild(registry); }