本文整理了Java中us.ihmc.robotics.controllers.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.YoPDGains
类名称：YoPDGains

YoPDGains介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public PDController(YoPDGains pdGains, String suffix, YoVariableRegistry registry)
{
 this.proportionalGain = pdGains.getYoKp();
 this.derivativeGain = pdGains.getYoKd();
 this.positionDeadband = pdGains.getPositionDeadband();
 positionError = new DoubleYoVariable("positionError_" + suffix,  registry);
 positionError.set(0.0);
 rateError = new DoubleYoVariable("rateError_" + suffix,  registry);
 rateError.set(0.0);
 actionP = new DoubleYoVariable("action_P_" + suffix, registry);
 actionP.set(0.0);
 actionD = new DoubleYoVariable("action_D_" + suffix, registry);
 actionD.set(0.0);
}

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

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/CommonWalkingControlModules

public CenterOfMassHeightManager(HighLevelHumanoidControllerToolbox momentumBasedController, WalkingControllerParameters walkingControllerParameters,
   YoVariableRegistry parentRegistry)
{
 CommonHumanoidReferenceFrames referenceFrames = momentumBasedController.getReferenceFrames();
 centerOfMassFrame = referenceFrames.getCenterOfMassFrame();
 centerOfMassJacobian = momentumBasedController.getCenterOfMassJacobian();
 pelvisFrame = referenceFrames.getPelvisFrame();
 gravity = momentumBasedController.getGravityZ();
 pelvis = momentumBasedController.getFullRobotModel().getPelvis();
 twistCalculator = momentumBasedController.getTwistCalculator();
 centerOfMassTrajectoryGenerator = createTrajectoryGenerator(momentumBasedController, walkingControllerParameters, referenceFrames);
 // TODO: Fix low level stuff so that we are truly controlling pelvis height and not CoM height.
 controlPelvisHeightInsteadOfCoMHeight.set(true);
 YoPDGains comHeightControlGains = walkingControllerParameters.createCoMHeightControlGains(registry);
 DoubleYoVariable kpCoMHeight = comHeightControlGains.getYoKp();
 DoubleYoVariable kdCoMHeight = comHeightControlGains.getYoKd();
 DoubleYoVariable maxCoMHeightAcceleration = comHeightControlGains.getYoMaximumFeedback();
 DoubleYoVariable maxCoMHeightJerk = comHeightControlGains.getYoMaximumFeedbackRate();
 double controlDT = momentumBasedController.getControlDT();
 // TODO Need to extract the maximum velocity parameter.
 coMHeightTimeDerivativesSmoother = new CoMHeightTimeDerivativesSmoother(null, maxCoMHeightAcceleration, maxCoMHeightJerk, controlDT, registry);
 this.centerOfMassHeightController = new PDController(kpCoMHeight, kdCoMHeight, "comHeight", registry);
 parentRegistry.addChild(registry);
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

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);
}