本文整理了Java中us.ihmc.robotics.controllers.pidGains.implementations.YoPIDGains.setKi()方法的一些代码示例，展示了YoPIDGains.setKi()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.setKi()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：setKi

YoPIDGains.setKi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/valkyrie

YoPIDGains gains = new YoPIDGains("Hand", registry);
gains.setKp(7.0);
gains.setKi(3.0);
gains.setKd(0.0);
gains.setMaximumFeedback(3.0);

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-robotics-toolkit-test

pidGains.setKi(ki);
pidGains.setMaximumFeedback(maxAcc);
pidGains.setMaximumFeedbackRate(maxJerk);

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

pidGains.setKi(ki);
pidGains.setMaximumFeedback(maxAcc);
pidGains.setMaximumFeedbackRate(maxJerk);

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

linearPidGains.setKi(linearKi);
linearPidGains.setKd(linearKd);
linearPidGains.setMaximumIntegralError(linearMaxIntegral);
angularPidGains.setKi(angularKi);
angularPidGains.setKd(angularKd);
angularPidGains.setMaximumIntegralError(angularMaxIntegral);

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

pidGains.setKi(integral);
pidGains.setKd(derivative);
pidGains.setMaximumIntegralError(maxIntegral);