class PIDTeleoperator:
def __init__( self, impedance, timeStep ):
self.controller = PIDController( timeStep )
def SetRemoteSystem( self, impedance ):
pass
def SetLocalSystem( self, impedance ):
pass
def Process( self, localState, remoteState, remoteForce, timeDelay ):
self.controller.PreProcess( remoteState, timeDelay )
feedbackForce = self.controller.Process( localState, remoteForce )
remotePredictedState = self.controller.PostProcess()
return ( feedbackForce, remotePredictedState, remotePredictedState )
