(
self,
kp_pos: float = 4.0,
kd_pos: float = 0.4,
kp_rot: float = 1.5,
kd_rot: float = 0.2,
dt: float = 1 / 30.0,
max_lin_vel: float = 1.0,
max_ang_vel: float = 3.0,
)
| 27 | """ |
| 28 | |
| 29 | def __init__( |
| 30 | self, |
| 31 | kp_pos: float = 4.0, |
| 32 | kd_pos: float = 0.4, |
| 33 | kp_rot: float = 1.5, |
| 34 | kd_rot: float = 0.2, |
| 35 | dt: float = 1 / 30.0, |
| 36 | max_lin_vel: float = 1.0, |
| 37 | max_ang_vel: float = 3.0, |
| 38 | ): |
| 39 | self.kp_pos = kp_pos |
| 40 | self.kd_pos = kd_pos |
| 41 | self.kp_rot = kp_rot |
| 42 | self.kd_rot = kd_rot |
| 43 | self.dt = dt |
| 44 | self.max_lin_vel = max_lin_vel |
| 45 | self.max_ang_vel = max_ang_vel |
| 46 | |
| 47 | self._prev_pos_err: Optional[np.ndarray] = None |
| 48 | self._prev_rot_err: Optional[np.ndarray] = None |
| 49 | |
| 50 | def reset(self): |
| 51 | """Reset derivative history at the start of an episode.""" |
nothing calls this directly
no outgoing calls
no test coverage detected