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本文整理了Java中us.ihmc.robotics.controllers.YoPDGains.getYoKd()
方法的一些代码示例,展示了YoPDGains.getYoKd()
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.getYoKd()
方法的具体详情如下:
包路径:us.ihmc.robotics.controllers.YoPDGains
类名称:YoPDGains
方法名:getYoKd
暂无
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/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);
}
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/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);
}
本文整理了Java中us.ihmc.robotDataLogger.YoVariableServer类的一些代码示例,展示了YoVariableServer类的具体用法。这些代码示例主要来源于Gith
本文整理了Java中us.ihmc.robotDataLogger.YoVariableClient类的一些代码示例,展示了YoVariableClient类的具体用法。这些代码示例主要来源于Gith
本文整理了Java中us.ihmc.kalman.YoKalmanFilter类的一些代码示例,展示了YoKalmanFilter类的具体用法。这些代码示例主要来源于Github/Stackoverf
本文整理了Java中us.ihmc.robotDataLogger.YoVariablesUpdatedListener类的一些代码示例,展示了YoVariablesUpdatedListener类的
本文整理了Java中us.ihmc.robotics.screwTheory.Wrench类的一些代码示例,展示了Wrench类的具体用法。这些代码示例主要来源于Github/Stackoverflo
本文整理了Java中us.ihmc.mecano.spatial.Wrench类的一些代码示例,展示了Wrench类的具体用法。这些代码示例主要来源于Github/Stackoverflow/Mave
本文整理了Java中us.ihmc.yoVariables.variable.YoVariable类的一些代码示例,展示了YoVariable类的具体用法。这些代码示例主要来源于Github/Stac
本文整理了Java中us.ihmc.yoVariables.variable.YoLong类的一些代码示例,展示了YoLong类的具体用法。这些代码示例主要来源于Github/Stackoverflo
本文整理了Java中us.ihmc.yoVariables.variable.YoFrameVector3D类的一些代码示例,展示了YoFrameVector3D类的具体用法。这些代码示例主要来源于G
本文整理了Java中us.ihmc.yoVariables.variable.YoEnum类的一些代码示例,展示了YoEnum类的具体用法。这些代码示例主要来源于Github/Stackoverflo
本文整理了Java中us.ihmc.yoVariables.variable.YoFramePoint3D类的一些代码示例,展示了YoFramePoint3D类的具体用法。这些代码示例主要来源于Git
本文整理了Java中us.ihmc.graphicsDescription.yoGraphics.YoGraphicsList类的一些代码示例,展示了YoGraphicsList类的具体用法。这些代码
本文整理了Java中us.ihmc.yoVariables.variable.YoBoolean类的一些代码示例,展示了YoBoolean类的具体用法。这些代码示例主要来源于Github/Stacko
本文整理了Java中us.ihmc.yoVariables.variable.YoInteger类的一些代码示例,展示了YoInteger类的具体用法。这些代码示例主要来源于Github/Stacko
本文整理了Java中us.ihmc.graphicsDescription.yoGraphics.YoGraphicPosition类的一些代码示例,展示了YoGraphicPosition类的具体用
本文整理了Java中us.ihmc.graphicsDescription.appearance.YoAppearance类的一些代码示例,展示了YoAppearance类的具体用法。这些代码示例主要
本文整理了Java中us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry类的一些代码示例,展示了YoGraphicsListReg
本文整理了Java中us.ihmc.yoVariables.variable.YoDouble类的一些代码示例,展示了YoDouble类的具体用法。这些代码示例主要来源于Github/Stackove
本文整理了Java中us.ihmc.yoVariables.variable.YoFrameVector2D类的一些代码示例,展示了YoFrameVector2D类的具体用法。这些代码示例主要来源于G
本文整理了Java中us.ihmc.codecs.yuv.YUVPictureConverter类的一些代码示例,展示了YUVPictureConverter类的具体用法。这些代码示例主要来源于Git
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