com.yobotics.simulationconstructionset.util
Class CylindricalCoordinatesPositionController

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.CylindricalCoordinatesPositionController
All Implemented Interfaces:
PositionController

public class CylindricalCoordinatesPositionController
extends java.lang.Object
implements PositionController


Constructor Summary
CylindricalCoordinatesPositionController(java.lang.String prefix, ReferenceFrame bodyFrame, ReferenceFrame cylinderFrame, YoVariableRegistry parentRegistry)
           
 
Method Summary
 void compute(FrameVector output, FramePoint desiredPosition, FrameVector desiredVelocity, FrameVector currentVelocity, FrameVector feedForward)
           
 ReferenceFrame getBodyFrame()
           
 void setGains(CylindricalPDGains gains)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

CylindricalCoordinatesPositionController

public CylindricalCoordinatesPositionController(java.lang.String prefix,
                                                ReferenceFrame bodyFrame,
                                                ReferenceFrame cylinderFrame,
                                                YoVariableRegistry parentRegistry)
Method Detail

compute

public void compute(FrameVector output,
                    FramePoint desiredPosition,
                    FrameVector desiredVelocity,
                    FrameVector currentVelocity,
                    FrameVector feedForward)
Specified by:
compute in interface PositionController

getBodyFrame

public ReferenceFrame getBodyFrame()
Specified by:
getBodyFrame in interface PositionController

setGains

public void setGains(CylindricalPDGains gains)