def pd_control()

in gym_hil/controllers/opspace.py [0:0]

• 6 lines of code
• 1 McCabe index (conditional complexity)

def pd_control(
    x: np.ndarray,
    x_des: np.ndarray,
    dx: np.ndarray,
    kp_kv: np.ndarray,
    ddx_max: float = 0.0,