private void computeProportionalTerm(FrameOrientation desiredOrientation) {
desiredOrientation.changeFrame(bodyFrame);
desiredOrientation.getQuaternion(errorQuaternion);
errorAngleAxis.set(errorQuaternion);
errorAngleAxis.setAngle(AngleTools.trimAngleMinusPiToPi(errorAngleAxis.getAngle()));
// Limit the maximum position error considered for control action
double maximumError = gains.getMaximumProportionalError();
if (errorAngleAxis.getAngle() > maximumError) {
errorAngleAxis.setAngle(Math.signum(errorAngleAxis.getAngle()) * maximumError);
}
proportionalTerm.set(errorAngleAxis.getX(), errorAngleAxis.getY(), errorAngleAxis.getZ());
proportionalTerm.scale(errorAngleAxis.getAngle());
rotationErrorInBody.set(proportionalTerm);
proportionalGainMatrix.transform(proportionalTerm.getVector());
}
private void computeIntegralTerm() {
if (gains.getMaximumIntegralError() < 1e-5) {
integralTerm.setToZero(bodyFrame);
return;
}
double integratedErrorAngle = errorAngleAxis.getAngle() * dt;
double errorIntegratedX = errorAngleAxis.getX() * integratedErrorAngle;
double errorIntegratedY = errorAngleAxis.getY() * integratedErrorAngle;
double errorIntegratedZ = errorAngleAxis.getZ() * integratedErrorAngle;
rotationErrorCumulated.add(errorIntegratedX, errorIntegratedY, errorIntegratedZ);
double errorMagnitude = rotationErrorCumulated.length();
if (errorMagnitude > gains.getMaximumIntegralError()) {
rotationErrorCumulated.scale(gains.getMaximumIntegralError() / errorMagnitude);
}
rotationErrorCumulated.getFrameTuple(integralTerm);
integralGainMatrix.transform(integralTerm.getVector());
}
