本文整理了Java中us.ihmc.robotics.controllers.pidGains.implementations.YoPIDGains.setIntegralLeakRatio()方法的一些代码示例，展示了YoPIDGains.setIntegralLeakRatio()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。YoPIDGains.setIntegralLeakRatio()方法的具体详情如下：
包路径：us.ihmc.robotics.controllers.pidGains.implementations.YoPIDGains
类名称：YoPIDGains
方法名：setIntegralLeakRatio

YoPIDGains.setIntegralLeakRatio介绍

暂无

代码示例

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testClippingLeakRate()
{
 YoPIDGains pidGains = new YoPIDGains("test", new YoVariableRegistry("PIDGainsRegistry"));
 Random random = new Random();
 for (int i = 0; i < 1000; i++)
 {
   double integratorLeakRatio = random.nextDouble() * 100;
   pidGains.setIntegralLeakRatio(integratorLeakRatio);
   assertTrue(pidGains.getYoIntegralLeakRatio().getDoubleValue() <= 1.0);
   integratorLeakRatio = -random.nextDouble() * 100;
   pidGains.setIntegralLeakRatio(integratorLeakRatio);
   assertTrue(pidGains.getYoIntegralLeakRatio().getDoubleValue() >= 0.0);
 }
}

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

public void set(PIDGainsReadOnly pidGains)
  {
   super.set(pidGains);
   setKi(pidGains.getKi());
   setMaximumIntegralError(pidGains.getMaxIntegralError());
   setIntegralLeakRatio(pidGains.getIntegralLeakRatio());
  }
}

代码示例来源：origin: us.ihmc/valkyrie

gains.setKd(0.0);
gains.setMaximumFeedback(3.0);
gains.setIntegralLeakRatio(0.999);
gains.setMaximumIntegralError(0.5);

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

@ContinuousIntegrationTest(estimatedDuration = 0.3)
@Test(timeout=300000)
public void testPIDControllerConstructorFromGains()
{
 YoVariableRegistry registry = new YoVariableRegistry("robert");
 double proportional = random.nextDouble();
 double integral = random.nextDouble();
 double derivative = random.nextDouble();
 double maxError = random.nextDouble();
 double deadband = random.nextDouble();
 double leakRate = random.nextDouble();
 double maxOutput = 100 * random.nextDouble();
 YoPIDGains pidGains = new YoPIDGains("", registry);
 pidGains.setKp(proportional);
 pidGains.setKi(integral);
 pidGains.setKd(derivative);
 pidGains.setMaximumIntegralError(maxError);
 pidGains.setPositionDeadband(deadband);
 pidGains.setIntegralLeakRatio(leakRate);
 pidGains.setMaximumFeedback(maxOutput);
 PIDController pid = new PIDController(pidGains, "", registry);
 assertEquals(proportional, pid.getProportionalGain(), 0.001);
 assertEquals(integral, pid.getIntegralGain(), 0.001);
 assertEquals(derivative, pid.getDerivativeGain(), 0.001);
 assertEquals(maxError, pid.getMaxIntegralError(), 0.001);
 assertEquals(deadband, pid.getPositionDeadband(), 0.001);
 assertEquals(leakRate, pid.getIntegralLeakRatio(), 0.001);
 assertEquals(maxOutput, pid.getMaximumFeedback(), 1e-5);
}

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

pidGains.setMaximumFeedbackRate(maxJerk);
pidGains.setMaximumIntegralError(maxIntegralError);
pidGains.setIntegralLeakRatio(integratorLeakRatio);

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

pidGains.setMaximumFeedback(maxAcc);
pidGains.setMaximumFeedbackRate(maxJerk);
pidGains.setIntegralLeakRatio(integratorLeakRatio);

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

pidGains.setMaximumFeedbackRate(maxJerk);
pidGains.setMaximumIntegralError(maxIntegralError);
pidGains.setIntegralLeakRatio(integratorLeakRatio);
pidGains.setZeta(zeta);