com.yobotics.simulationconstructionset.util.perturbance
Class TimeBasedPerturbance

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.perturbance.TimeBasedPerturbance
All Implemented Interfaces:
RobotControlElement, RobotController

public class TimeBasedPerturbance
extends java.lang.Object
implements RobotController


Constructor Summary
TimeBasedPerturbance(ForcePerturbable perturbable, DoubleYoVariable time, double timeToDoPerturbance, DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry, java.lang.String name)
          Perturbs the robot along the x or y axis after a certain amount of time after the start of the simulation
 
Method Summary
 void computeForcePerturbance()
           
 void doControl()
           
 java.lang.String getDescription()
           
 java.lang.String getName()
           
 YoVariableRegistry getYoVariableRegistry()
           
 void initialize()
           
 void setPerturbanceDirection(double x, double y)
           
 void setupParametersForLIPMWithReactionMass()
           
 void setupParametersForPlanarPointFootLinearLegBipedRobot()
           
 void setupParametersForR2()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

TimeBasedPerturbance

public TimeBasedPerturbance(ForcePerturbable perturbable,
                            DoubleYoVariable time,
                            double timeToDoPerturbance,
                            DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry,
                            java.lang.String name)
Perturbs the robot along the x or y axis after a certain amount of time after the start of the simulation

Parameters:
perturbable -
time -
timeToDoPerturbance - simulation time at which the perturbance is applied.
dynamicGraphicObjectsListRegistry -
name -
Method Detail

setupParametersForR2

public void setupParametersForR2()

setupParametersForLIPMWithReactionMass

public void setupParametersForLIPMWithReactionMass()

setupParametersForPlanarPointFootLinearLegBipedRobot

public void setupParametersForPlanarPointFootLinearLegBipedRobot()

setPerturbanceDirection

public void setPerturbanceDirection(double x,
                                    double y)

doControl

public void doControl()
Specified by:
doControl in interface RobotController

computeForcePerturbance

public void computeForcePerturbance()

getYoVariableRegistry

public YoVariableRegistry getYoVariableRegistry()
Specified by:
getYoVariableRegistry in interface RobotControlElement

getName

public java.lang.String getName()
Specified by:
getName in interface RobotControlElement

initialize

public void initialize()
Specified by:
initialize in interface RobotControlElement

getDescription

public java.lang.String getDescription()
Specified by:
getDescription in interface RobotControlElement