本文整理了Java中us.ihmc.robotics.controllers.pidGains.implementations.YoPDGains类的一些代码示例，展示了YoPDGains类的具体用法。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类的具体详情如下：
包路径：us.ihmc.robotics.controllers.pidGains.implementations.YoPDGains
类名称：YoPDGains

YoPDGains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 void set(PDGainsReadOnly pdGains)
{
 setKp(pdGains.getKp());
 setKd(pdGains.getKd());
 setZeta(GainCalculator.computeDampingRatio(pdGains.getKp(), pdGains.getKd()));
 setMaximumFeedback(pdGains.getMaximumFeedback());
 setMaximumFeedbackRate(pdGains.getMaximumFeedbackRate());
 setPositionDeadband(pdGains.getPositionDeadband());
}

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

public void testParameters()
 YoPDGains gains = new YoPDGains("pdGains", new YoVariableRegistry("testRegistry"));
   gains.setKd(kd);
   gains.setKp(kp);
   gains.setMaximumFeedback(maxAcc);
   gains.setMaximumFeedbackRate(maxJerk);
   gains.setZeta(zeta);
   gains.setPositionDeadband(deadband);
   assertEquals(kp, gains.getKp(), 1e-6);
   assertEquals(kp, gains.getYoKp().getDoubleValue(), 1e-6);
   assertEquals(kd, gains.getKd(), 1e-6);
   assertEquals(kd, gains.getYoKd().getDoubleValue(), 1e-6);
   assertEquals(maxAcc, gains.getMaximumFeedback(), 1e-6);
   assertEquals(maxAcc, gains.getYoMaximumFeedback().getDoubleValue(), 1e-6);
   assertEquals(maxJerk, gains.getMaximumFeedbackRate(), 1e-6);
   assertEquals(maxJerk, gains.getYoMaximumFeedbackRate().getDoubleValue(), 1e-6);
   assertEquals(zeta, gains.getZeta(), 1e-6);
   assertEquals(zeta, gains.getYoZeta().getDoubleValue(), 1e-6);
   assertEquals(deadband, gains.getPositionDeadband(), 1e-6);
   assertEquals(deadband, gains.getYoPositionDeadband().getDoubleValue(), 1e-6);

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testParameters_2()
{
 YoPDGains gains = new YoPDGains("pdGains", new YoVariableRegistry("testRegistry"));
 Random rand = new Random();
 for (int i = 0; i < 1000; i++)
 {
   double kp = rand.nextDouble() * 100;
   double maxAcc = rand.nextDouble() * 100;
   double maxJerk = rand.nextDouble() * 100;
   double zeta = rand.nextDouble()*100;
   gains.setPDGains(kp, zeta);
   gains.setMaximumFeedbackAndMaximumFeedbackRate(maxAcc, maxJerk);
   assertEquals(kp, gains.getKp(), 1e-6);
   assertEquals(0.0, gains.getKd(), 1e-6);
   assertEquals(maxAcc, gains.getMaximumFeedback(), 1e-6);
   assertEquals(maxJerk, gains.getMaximumFeedbackRate(), 1e-6);
   assertEquals(zeta, gains.getZeta(), 1e-6);
   assertEquals(0.0, gains.getPositionDeadband(), 1e-6);
   assertEquals(0.0, gains.getYoPositionDeadband().getDoubleValue(), 1e-6);
 }
}

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);
}