com.yobotics.simulationconstructionset.util
Class AxisAngleOrientationController

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

public class AxisAngleOrientationController
extends java.lang.Object


Constructor Summary
AxisAngleOrientationController(java.lang.String prefix, ReferenceFrame bodyFrame, YoVariableRegistry parentRegistry)
           
 
Method Summary
 void compute(FrameVector output, FrameOrientation desiredOrientation, FrameVector desiredAngularVelocity, FrameVector currentAngularVelocity, FrameVector feedForward)
           
 void setDerivativeGains(double[] derivativeGains)
           
 void setDerivativeGains(double derivativeGainX, double derivativeGainY, double derivativeGainZ)
           
 void setProportionalGains(double[] proportionalGains)
           
 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

AxisAngleOrientationController

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

compute

public void compute(FrameVector output,
                    FrameOrientation desiredOrientation,
                    FrameVector desiredAngularVelocity,
                    FrameVector currentAngularVelocity,
                    FrameVector feedForward)

setProportionalGains

public void setProportionalGains(double proportionalGainX,
                                 double proportionalGainY,
                                 double proportionalGainZ)

setDerivativeGains

public void setDerivativeGains(double derivativeGainX,
                               double derivativeGainY,
                               double derivativeGainZ)

setProportionalGains

public void setProportionalGains(double[] proportionalGains)

setDerivativeGains

public void setDerivativeGains(double[] derivativeGains)