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

YoPIDGains介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

public void setLinearGains(double kp, double ki, double kd)
{
  linearPidGains.setKp(kp);
  linearPidGains.setKi(ki);
  linearPidGains.setKd(kd);
}

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/ihmc-robotics-toolkit

public PIDController(YoPIDGains yoPIDGains, String suffix, YoVariableRegistry registry)
{
 super(suffix, registry);
 pdController = new PDController(yoPIDGains, suffix, registry);
 this.integralGain = yoPIDGains.getYoKi();
 this.maxIntegralError = yoPIDGains.getYoMaxIntegralError();
 this.maxFeedback = yoPIDGains.getYoMaximumFeedback();
 integralLeakRatio = yoPIDGains.getYoIntegralLeakRatio();
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.3)
@Test(timeout=300000)
public void testComputeFromYoPIDGains()
{
 YoVariableRegistry registry = new YoVariableRegistry("robert");
 double proportional = 3.0;
 double integral = 2.0;
 double derivative = 1.0;
 double maxError = 10.0;
 YoPIDGains pidGains = new YoPIDGains("", registry);
 pidGains.setKp(proportional);
 pidGains.setKi(integral);
 pidGains.setKd(derivative);
 pidGains.setMaximumIntegralError(maxError);
 PIDController pid = new PIDController(pidGains, "", registry);
 double currentPosition = 0.0;
 double desiredPosition = 5.0;
 double currentRate = 0.0;
 double desiredRate = 1.0;
 assertEquals(17.0, pid.compute(currentPosition, desiredPosition, currentRate, desiredRate, 0.1), 0.001);
}

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

public void testParameters_2()
 YoPIDGains pidGains = new YoPIDGains("test", new YoVariableRegistry("PIDGainsRegistry"));
   double zeta = random.nextDouble() * 100;
   pidGains.setPDGains(kp, zeta);
   pidGains.setKd(kd);
   pidGains.setKi(ki);
   pidGains.setMaximumFeedback(maxAcc);
   pidGains.setMaximumFeedbackRate(maxJerk);
   pidGains.setMaximumIntegralError(maxIntegralError);
   pidGains.setIntegralLeakRatio(integratorLeakRatio);
   assertEquals(kp, pidGains.getKp(), 1e-6);
   assertEquals(kd, pidGains.getKd(), 1e-6);
   assertEquals(kp, pidGains.getYoKp().getDoubleValue(), 1e-6);
   assertEquals(kd, pidGains.getYoKd().getDoubleValue(), 1e-6);
   assertEquals(ki, pidGains.getYoKi().getDoubleValue(), 1e-6);
   assertEquals(maxAcc, pidGains.getMaximumFeedback(), 1e-6);
   assertEquals(maxJerk, pidGains.getMaximumFeedbackRate(), 1e-6);
   assertEquals(maxAcc, pidGains.getYoMaximumFeedback().getDoubleValue(), 1e-6);
   assertEquals(maxJerk, pidGains.getYoMaximumFeedbackRate().getDoubleValue(), 1e-6);
   assertEquals(integratorLeakRatio, pidGains.getYoIntegralLeakRatio().getDoubleValue(), 1e-6);
   assertEquals(zeta, pidGains.getZeta(), 1e-6);

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

public void testParameters_3()
 YoPIDGains pidGains = new YoPIDGains("test", new YoVariableRegistry("PIDGainsRegistry"));
   double zeta = random.nextDouble() * 100;
   pidGains.setPIDGains(kp, zeta, ki, maxIntegralError);
   pidGains.setKd(kd);
   pidGains.setMaximumFeedback(maxAcc);
   pidGains.setMaximumFeedbackRate(maxJerk);
   pidGains.setIntegralLeakRatio(integratorLeakRatio);
   assertEquals(kp, pidGains.getKp(), 1e-6);
   assertEquals(kd, pidGains.getKd(), 1e-6);
   assertEquals(kp, pidGains.getYoKp().getDoubleValue(), 1e-6);
   assertEquals(kd, pidGains.getYoKd().getDoubleValue(), 1e-6);
   assertEquals(ki, pidGains.getYoKi().getDoubleValue(), 1e-6);
   assertEquals(maxAcc, pidGains.getMaximumFeedback(), 1e-6);
   assertEquals(maxJerk, pidGains.getMaximumFeedbackRate(), 1e-6);
   assertEquals(maxAcc, pidGains.getYoMaximumFeedback().getDoubleValue(), 1e-6);
   assertEquals(maxJerk, pidGains.getYoMaximumFeedbackRate().getDoubleValue(), 1e-6);
   assertEquals(zeta, pidGains.getZeta(), 1e-6);
   assertEquals(integratorLeakRatio, pidGains.getYoIntegralLeakRatio().getDoubleValue(), 1e-6);
   assertEquals(maxIntegralError, pidGains.getYoMaxIntegralError().getDoubleValue(), 1e-6);

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

public LowLevelActuatorSimulator(OneDegreeOfFreedomJoint simulatedJoint, LowLevelStateReadOnly jointDesiredOutput, double controlDT, double kp, double kd,
                LowLevelActuatorMode actuatorMode)
{
 this.controlDT = controlDT;
 this.actuatorMode = actuatorMode;
 registry = new YoVariableRegistry(simulatedJoint.getName() + name);
 gains = new YoPIDGains(simulatedJoint.getName() + "Actuator", registry);
 jointController = new PIDController(gains, simulatedJoint.getName() + "LowLevelActuatorSimulator", registry);
 gains.setKp(kp);
 gains.setKd(kd);
 this.simulatedJoint = simulatedJoint;
 this.actuatorDesireds = jointDesiredOutput;
}

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 YoLimitedPIDGains(String suffix, double controlDT, YoVariableRegistry registry)
{
 super(suffix, registry);
 maxKpRate = new YoDouble("maxKpRate" + suffix, registry);
 maxKdRate = new YoDouble("maxKdRate" + suffix, registry);
 maxKiRate = new YoDouble("maxKiRate" + suffix, registry);
 limitedKi = new RateLimitedYoVariable("limitedKi" + suffix, registry, maxKiRate, super.getYoKi(), controlDT);
 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);
 maxKiRate.set(Double.POSITIVE_INFINITY);
}

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

public void setKd(double kd)
{
 gains.setKd(kd);
}

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

public void setKp(double kp)
{
 gains.setKp(kp);
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

jointspaceGains.put(joint1.getName(), new YoPIDGains("Joint1Gains", testRegistry));
jointspaceGains.put(joint2.getName(), new YoPIDGains("Joint2Gains", testRegistry));
YoPID3DGains taskspaceOrientationGains = new SymmetricYoPIDSE3Gains("OrientationGains", testRegistry);
YoPID3DGains taskspacePositionGains = new SymmetricYoPIDSE3Gains("PositionGains", testRegistry);

代码示例来源：origin: us.ihmc/valkyrie

pidController.setProportionalGain(gains.getKp());
pidController.setIntegralGain(gains.getKi());
YoEffortJointHandleHolder handle = jointHandles.get(fingerMotorNameEnum);

代码示例来源：origin: us.ihmc/valkyrie

YoPIDGains gains = new YoPIDGains("Hand", registry);
gains.setKp(7.0);
gains.setKi(3.0);
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

public void test()
 YoPIDGains pidGains = new YoPIDGains("test", new YoVariableRegistry("PIDGainsRegistry"));
   double zeta = random.nextDouble() * 100;
   pidGains.setKp(kp);
   pidGains.setKd(kd);
   pidGains.setKi(ki);
   pidGains.setMaximumFeedback(maxAcc);
   pidGains.setMaximumFeedbackRate(maxJerk);
   pidGains.setMaximumIntegralError(maxIntegralError);
   pidGains.setIntegralLeakRatio(integratorLeakRatio);
   pidGains.setZeta(zeta);
   assertEquals(kp, pidGains.getKp(), 1e-6);
   assertEquals(kd, pidGains.getKd(), 1e-6);
   assertEquals(kp, pidGains.getYoKp().getDoubleValue(), 1e-6);
   assertEquals(kd, pidGains.getYoKd().getDoubleValue(), 1e-6);
   assertEquals(ki, pidGains.getYoKi().getDoubleValue(), 1e-6);
   assertEquals(maxAcc, pidGains.getMaximumFeedback(), 1e-6);
   assertEquals(maxJerk, pidGains.getMaximumFeedbackRate(), 1e-6);
   assertEquals(maxAcc, pidGains.getYoMaximumFeedback().getDoubleValue(), 1e-6);
   assertEquals(maxJerk, pidGains.getYoMaximumFeedbackRate().getDoubleValue(), 1e-6);
   assertEquals(integratorLeakRatio, pidGains.getYoIntegralLeakRatio().getDoubleValue(), 1e-6);
   assertEquals(zeta, pidGains.getZeta(), 1e-6);

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

@ContinuousIntegrationTest(estimatedDuration = 0.2)
@Test(timeout=300000)
public void testPIDControllerConstructorFromGains2()
{
 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 maxOutput = random.nextDouble() * 100;
 YoPIDGains pidGains = new YoPIDGains("", registry);
 pidGains.setKp(proportional);
 pidGains.setKi(integral);
 pidGains.setKd(derivative);
 pidGains.setMaximumIntegralError(maxError);
 pidGains.setPositionDeadband(deadband);
 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(maxOutput, pid.getMaximumFeedback(), 0.001);
 assertEquals(1.0, pid.getIntegralLeakRatio(), 0.001);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.2)
@Test(timeout=300000)
public void testPIDControllerConstructorFromGains3()
{
 YoVariableRegistry registry = new YoVariableRegistry("robert");
 double proportional = random.nextDouble();
 double integral = random.nextDouble();
 double derivative = random.nextDouble();
 double maxIntegralError = random.nextDouble();
 double maxOutput = random.nextDouble() * 100;
 YoPIDGains pidGains = new YoPIDGains("", registry);
 pidGains.setKp(proportional);
 pidGains.setKi(integral);
 pidGains.setKd(derivative);
 pidGains.setMaximumIntegralError(maxIntegralError);
 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(maxIntegralError, pid.getMaxIntegralError(), 0.001);
 assertEquals(maxOutput, pid.getMaximumFeedback(), 1e-5);
 assertEquals(0.0, pid.getPositionDeadband(), 0.001);
 assertEquals(1.0, pid.getIntegralLeakRatio(), 0.001);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.2)
@Test(timeout=300000)
public void testPIDControllerConstructorFromGains4()
{
 YoVariableRegistry registry = new YoVariableRegistry("robert");
 double proportional = random.nextDouble();
 double integral = random.nextDouble();
 double derivative = random.nextDouble();
 double maxIntegralError = random.nextDouble();
 YoPIDGains pidGains = new YoPIDGains("", registry);
 pidGains.setKp(proportional);
 pidGains.setKi(integral);
 pidGains.setKd(derivative);
 pidGains.setMaximumIntegralError(maxIntegralError);
 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(maxIntegralError, pid.getMaxIntegralError(), 0.001);
 assertEquals(Double.POSITIVE_INFINITY, pid.getMaximumFeedback(), 0.001);
 assertEquals(0.0, pid.getPositionDeadband(), 0.001);
 assertEquals(1.0, pid.getIntegralLeakRatio(), 0.001);
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

linearPidGains = new YoPIDGains(forcePoint.getName() + "_linear" + suffix, registry);
linearPidGains.setKp(linearKp);
linearPidGains.setKi(linearKi);
linearPidGains.setKd(linearKd);
linearPidGains.setMaximumIntegralError(linearMaxIntegral);
linearPidGains.setPositionDeadband(linearDeadband);
angularPidGains = new YoPIDGains(forcePoint.getName() + "_angular" + suffix, registry);
angularPidGains.setKp(angularKp);
angularPidGains.setKi(angularKi);
angularPidGains.setKd(angularKd);
angularPidGains.setMaximumIntegralError(angularMaxIntegral);
angularPidGains.setPositionDeadband(angularDeadband);