com.yobotics.simulationconstructionset
Class NoisyYoRotationMatrix

java.lang.Object
  extended by com.yobotics.simulationconstructionset.NoisyYoRotationMatrix

public class NoisyYoRotationMatrix
extends java.lang.Object


Field Summary
static double DEFAULT_BIAS_DIRECTION_ANGLE
           
static double DEFAULT_BIAS_DIRECTION_ANGLE_DELTA
           
static double DEFAULT_BIAS_DIRECTION_ANGLE_MAX
           
static double DEFAULT_BIAS_DIRECTION_ANGLE_MIN
           
static double DEFAULT_BIAS_DIRECTION_HEIGHT
           
static double DEFAULT_BIAS_DIRECTION_HEIGHT_DELTA
           
static double DEFAULT_BIAS_DIRECTION_HEIGHT_MAX
           
static double DEFAULT_BIAS_DIRECTION_HEIGHT_MIN
           
static double DEFAULT_BIAS_ROTATION_ANGLE
           
static double DEFAULT_BIAS_ROTATION_ANGLE_DELTA
           
static double DEFAULT_BIAS_ROTATION_ANGLE_MAX
           
static double DEFAULT_BIAS_ROTATION_ANGLE_MIN
           
static double DEFAULT_NOISE_DIRECTION_ANGLE_BOUND
           
static double DEFAULT_NOISE_DIRECTION_HEIGHT_BOUND
           
static double DEFAULT_NOISE_ROTATION_ANGLE_STANDARD_DEVIATION
           
 
Constructor Summary
NoisyYoRotationMatrix(java.lang.String name, YoVariableRegistry registry)
           
 
Method Summary
 javax.vecmath.Matrix3d getMatrix3d()
           
 void setBias(boolean choice)
           
 void setBias(double biasOfRotationAngle)
           
 void setBias(double biasOfRotationAngle, double biasOfDirectionHeight, double biasOfDirectionAngle)
           
 void setBiasOfDirectionAngle(double bias, double biasMax, double biasMin, double biasDelta)
           
 void setBiasOfDirectionHeight(double bias, double biasMax, double biasMin, double biasDelta)
           
 void setBiasOfRotationAngle(double bias, double biasMax, double biasMin, double biasDelta)
           
 void setBiasRandomlyBetweenMinAndMax()
           
 void setGaussianNoise(double standardDeviation)
           
 void setIsNoisy(boolean choice)
           
 void setNoiseType(NoiseType noiseType)
           
 void setRandomBound(double randomBound)
           
 void update(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)
           
 void update(javax.vecmath.Matrix3d m)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

DEFAULT_NOISE_ROTATION_ANGLE_STANDARD_DEVIATION

public static final double DEFAULT_NOISE_ROTATION_ANGLE_STANDARD_DEVIATION
See Also:
Constant Field Values

DEFAULT_NOISE_DIRECTION_HEIGHT_BOUND

public static final double DEFAULT_NOISE_DIRECTION_HEIGHT_BOUND
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Constant Field Values

DEFAULT_NOISE_DIRECTION_ANGLE_BOUND

public static final double DEFAULT_NOISE_DIRECTION_ANGLE_BOUND
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Constant Field Values

DEFAULT_BIAS_ROTATION_ANGLE

public static final double DEFAULT_BIAS_ROTATION_ANGLE
See Also:
Constant Field Values

DEFAULT_BIAS_ROTATION_ANGLE_MAX

public static final double DEFAULT_BIAS_ROTATION_ANGLE_MAX
See Also:
Constant Field Values

DEFAULT_BIAS_ROTATION_ANGLE_MIN

public static final double DEFAULT_BIAS_ROTATION_ANGLE_MIN
See Also:
Constant Field Values

DEFAULT_BIAS_ROTATION_ANGLE_DELTA

public static final double DEFAULT_BIAS_ROTATION_ANGLE_DELTA
See Also:
Constant Field Values

DEFAULT_BIAS_DIRECTION_HEIGHT

public static final double DEFAULT_BIAS_DIRECTION_HEIGHT
See Also:
Constant Field Values

DEFAULT_BIAS_DIRECTION_HEIGHT_MAX

public static final double DEFAULT_BIAS_DIRECTION_HEIGHT_MAX
See Also:
Constant Field Values

DEFAULT_BIAS_DIRECTION_HEIGHT_MIN

public static final double DEFAULT_BIAS_DIRECTION_HEIGHT_MIN
See Also:
Constant Field Values

DEFAULT_BIAS_DIRECTION_HEIGHT_DELTA

public static final double DEFAULT_BIAS_DIRECTION_HEIGHT_DELTA
See Also:
Constant Field Values

DEFAULT_BIAS_DIRECTION_ANGLE

public static final double DEFAULT_BIAS_DIRECTION_ANGLE
See Also:
Constant Field Values

DEFAULT_BIAS_DIRECTION_ANGLE_MAX

public static final double DEFAULT_BIAS_DIRECTION_ANGLE_MAX
See Also:
Constant Field Values

DEFAULT_BIAS_DIRECTION_ANGLE_MIN

public static final double DEFAULT_BIAS_DIRECTION_ANGLE_MIN
See Also:
Constant Field Values

DEFAULT_BIAS_DIRECTION_ANGLE_DELTA

public static final double DEFAULT_BIAS_DIRECTION_ANGLE_DELTA
See Also:
Constant Field Values
Constructor Detail

NoisyYoRotationMatrix

public NoisyYoRotationMatrix(java.lang.String name,
                             YoVariableRegistry registry)
Method Detail

update

public void update(javax.vecmath.Matrix3d m)

update

public void update(double m00,
                   double m01,
                   double m02,
                   double m10,
                   double m11,
                   double m12,
                   double m20,
                   double m21,
                   double m22)

getMatrix3d

public javax.vecmath.Matrix3d getMatrix3d()

setIsNoisy

public void setIsNoisy(boolean choice)

setBias

public void setBias(boolean choice)

setBias

public void setBias(double biasOfRotationAngle)

setBias

public void setBias(double biasOfRotationAngle,
                    double biasOfDirectionHeight,
                    double biasOfDirectionAngle)

setBiasOfRotationAngle

public void setBiasOfRotationAngle(double bias,
                                   double biasMax,
                                   double biasMin,
                                   double biasDelta)

setBiasOfDirectionHeight

public void setBiasOfDirectionHeight(double bias,
                                     double biasMax,
                                     double biasMin,
                                     double biasDelta)

setBiasOfDirectionAngle

public void setBiasOfDirectionAngle(double bias,
                                    double biasMax,
                                    double biasMin,
                                    double biasDelta)

setBiasRandomlyBetweenMinAndMax

public void setBiasRandomlyBetweenMinAndMax()

setNoiseType

public void setNoiseType(NoiseType noiseType)

setRandomBound

public void setRandomBound(double randomBound)

setGaussianNoise

public void setGaussianNoise(double standardDeviation)