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us.ihmc.robotics.controllers.pidGains.implementations.YoPDGains.getYoKp()方法的使用及代码示例

转载 作者：知者 更新时间：2024-03-17 13:39:31 26 4
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本文整理了Java中us.ihmc.robotics.controllers.pidGains.implementations.YoPDGains.getYoKp()方法的一些代码示例，展示了YoPDGains.getYoKp()的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。YoPDGains.getYoKp()方法的具体详情如下：
包路径：us.ihmc.robotics.controllers.pidGains.implementations.YoPDGains
类名称：YoPDGains
方法名：getYoKp

YoPDGains.getYoKp介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

public PDController(YoPDGains pdGains, String suffix, YoVariableRegistry registry)
{
 super(suffix, registry);
 this.proportionalGain = pdGains.getYoKp();
 this.derivativeGain = pdGains.getYoKd();
 this.positionDeadband = pdGains.getYoPositionDeadband();
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

public YoLimitedPDGains(String suffix, double controlDT, YoVariableRegistry registry)
{
 super(suffix, registry);
 maxKpRate = new YoDouble("maxKpRate" + suffix, registry);
 maxKdRate = new YoDouble("maxKdRate" + suffix, registry);
 limitedKp = new RateLimitedYoVariable("limitedKp" + suffix, registry, maxKpRate, super.getYoKp(), controlDT);
 limitedKd = new RateLimitedYoVariable("limitedKd" + suffix, registry, maxKdRate, super.getYoKd(), controlDT);
 maxKpRate.set(Double.POSITIVE_INFINITY);
 maxKdRate.set(Double.POSITIVE_INFINITY);
}

代码示例来源：origin: us.ihmc/ihmc-simulation-toolkit

public PassiveJointController(OneDegreeOfFreedomJoint simulatedJoint, YoPDGains gains)
{
 registry = new YoVariableRegistry(simulatedJoint.getName() + name);
 jointController = new PDController(gains.getYoKp(), gains.getYoKd(), simulatedJoint.getName() + "PassiveController", registry);
 this.simulatedJoint = simulatedJoint;
 jointController.setProportionalGain(36000.0);
 jointController.setDerivativeGain(1000.0);
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit-test

assertEquals(kp, gains.getYoKp().getDoubleValue(), 1e-6);
assertEquals(kd, gains.getKd(), 1e-6);
assertEquals(kd, gains.getYoKd().getDoubleValue(), 1e-6);

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