pdnnet.py 文件源码

def __init__(self, kp, kd, adaptation_rate = 0.0001, quantization = None):
        """

        :param kp_over_kd: The ratio of kp/kd.  0.01 might be a normal value.
        :param relative_scale: Try to maintain a scale of
        :param adaptation_rate:
        """

        self.k_alpha = kd/float(kp+kd)
        self.k_beta_init = 1/float(kp+kd)  # The scale
        self.k_beta=self.k_beta_init
        assert np.allclose(self.kp, kp)
        assert np.allclose(self.kd, kd)
        self.k_beta = create_shared_variable(self.k_beta_init)
        self.adaptation_rate = adaptation_rate
        self.quantization = quantization