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 )