com.yobotics.simulationconstructionset.util
Class EuclideanPositionController
java.lang.Object
com.yobotics.simulationconstructionset.util.EuclideanPositionController
- All Implemented Interfaces:
- PositionController
public class EuclideanPositionController
- extends java.lang.Object
- implements PositionController
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
EuclideanPositionController
public EuclideanPositionController(java.lang.String prefix,
ReferenceFrame bodyFrame,
YoVariableRegistry parentRegistry)
compute
public void compute(FrameVector output,
FramePoint desiredPosition,
FrameVector desiredVelocity,
FrameVector currentVelocity,
FrameVector feedForward)
- Specified by:
compute
in interface PositionController
setProportionalGains
public void setProportionalGains(double proportionalGainX,
double proportionalGainY,
double proportionalGainZ)
setDerivativeGains
public void setDerivativeGains(double derivativeGainX,
double derivativeGainY,
double derivativeGainZ)
setProportionalGainsToZero
public void setProportionalGainsToZero()
setDerivativeGainsToZero
public void setDerivativeGainsToZero()
packPositionError
public void packPositionError(FrameVector ret)
setProportionalGains
public void setProportionalGains(double[] proportionalGains)
setDerivativeGains
public void setDerivativeGains(double[] derivativeGains)
setProportionalGains
public void setProportionalGains(javax.vecmath.Matrix3d proportionalGainMatrix)
setDerivativeGains
public void setDerivativeGains(javax.vecmath.Matrix3d derivativeGainMatrix)
getBodyFrame
public ReferenceFrame getBodyFrame()
- Specified by:
getBodyFrame
in interface PositionController