com.yobotics.simulationconstructionset.util
Class AxisAngleOrientationController
java.lang.Object
com.yobotics.simulationconstructionset.util.AxisAngleOrientationController
public class AxisAngleOrientationController
- extends java.lang.Object
Method Summary |
void |
compute(us.ihmc.utilities.math.geometry.FrameVector output,
us.ihmc.utilities.math.geometry.Orientation desiredOrientation,
us.ihmc.utilities.math.geometry.FrameVector desiredAngularVelocity,
us.ihmc.utilities.math.geometry.FrameVector currentAngularVelocity,
us.ihmc.utilities.math.geometry.FrameVector feedForward)
|
void |
setDerivativeGains(double derivativeGainX,
double derivativeGainY,
double derivativeGainZ)
|
void |
setProportionalGains(double proportionalGainX,
double proportionalGainY,
double proportionalGainZ)
|
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
AxisAngleOrientationController
public AxisAngleOrientationController(java.lang.String prefix,
us.ihmc.utilities.math.geometry.ReferenceFrame bodyFrame,
YoVariableRegistry parentRegistry)
compute
public void compute(us.ihmc.utilities.math.geometry.FrameVector output,
us.ihmc.utilities.math.geometry.Orientation desiredOrientation,
us.ihmc.utilities.math.geometry.FrameVector desiredAngularVelocity,
us.ihmc.utilities.math.geometry.FrameVector currentAngularVelocity,
us.ihmc.utilities.math.geometry.FrameVector feedForward)
setProportionalGains
public void setProportionalGains(double proportionalGainX,
double proportionalGainY,
double proportionalGainZ)
setDerivativeGains
public void setDerivativeGains(double derivativeGainX,
double derivativeGainY,
double derivativeGainZ)