com.yobotics.simulationconstructionset.util
Class EuclideanPositionController

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.EuclideanPositionController

public class EuclideanPositionController
extends java.lang.Object


Constructor Summary
EuclideanPositionController(java.lang.String prefix, us.ihmc.utilities.math.geometry.ReferenceFrame bodyFrame, YoVariableRegistry parentRegistry)
           
 
Method Summary
 void compute(us.ihmc.utilities.math.geometry.FrameVector output, us.ihmc.utilities.math.geometry.FramePoint desiredPosition, us.ihmc.utilities.math.geometry.FrameVector desiredVelocity, us.ihmc.utilities.math.geometry.FrameVector currentVelocity, 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
 

Constructor Detail

EuclideanPositionController

public EuclideanPositionController(java.lang.String prefix,
                                   us.ihmc.utilities.math.geometry.ReferenceFrame bodyFrame,
                                   YoVariableRegistry parentRegistry)
Method Detail

compute

public void compute(us.ihmc.utilities.math.geometry.FrameVector output,
                    us.ihmc.utilities.math.geometry.FramePoint desiredPosition,
                    us.ihmc.utilities.math.geometry.FrameVector desiredVelocity,
                    us.ihmc.utilities.math.geometry.FrameVector currentVelocity,
                    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)