com.yobotics.simulationconstructionset.simulatedSensors
Class ProcessedSensorsReadWrite

java.lang.Object
  extended by com.yobotics.simulationconstructionset.simulatedSensors.ProcessedSensorsReadWrite
All Implemented Interfaces:
ProcessedIMUSensorsReadOnlyInterface, ProcessedIMUSensorsWriteOnlyInterface

public class ProcessedSensorsReadWrite
extends java.lang.Object
implements ProcessedIMUSensorsReadOnlyInterface, ProcessedIMUSensorsWriteOnlyInterface


Constructor Summary
ProcessedSensorsReadWrite(ReferenceFrame imuReferenceFrame, YoVariableRegistry yoVariableRegistry)
           
 
Method Summary
 FrameVector getAcceleration(int imuIndex)
           
 FrameVector getAngularAcceleration(int imuIndex)
           
 FrameVector getAngularVelocity(int imuIndex)
           
 double getPitch(int imuIndex)
           
 javax.vecmath.Quat4d getQuaternion(int imuIndex)
           
 double getRoll(int imuIndex)
           
 double getYaw(int imuIndex)
           
 void setAcceleration(FrameVector accelerationInWorld, int imuIndex)
           
 void setAngularAccelerationInBody(javax.vecmath.Vector3d angularAccelerationInBody, int imuIndex)
           
 void setAngularVelocityInBody(javax.vecmath.Vector3d angularVelocityInBody, int imuIndex)
           
 void setRotation(javax.vecmath.Matrix3d rotationMatrix, int imuIndex)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

ProcessedSensorsReadWrite

public ProcessedSensorsReadWrite(ReferenceFrame imuReferenceFrame,
                                 YoVariableRegistry yoVariableRegistry)
Method Detail

setRotation

public void setRotation(javax.vecmath.Matrix3d rotationMatrix,
                        int imuIndex)
Specified by:
setRotation in interface ProcessedIMUSensorsWriteOnlyInterface

setAcceleration

public void setAcceleration(FrameVector accelerationInWorld,
                            int imuIndex)
Specified by:
setAcceleration in interface ProcessedIMUSensorsWriteOnlyInterface

setAngularVelocityInBody

public void setAngularVelocityInBody(javax.vecmath.Vector3d angularVelocityInBody,
                                     int imuIndex)
Specified by:
setAngularVelocityInBody in interface ProcessedIMUSensorsWriteOnlyInterface

setAngularAccelerationInBody

public void setAngularAccelerationInBody(javax.vecmath.Vector3d angularAccelerationInBody,
                                         int imuIndex)
Specified by:
setAngularAccelerationInBody in interface ProcessedIMUSensorsWriteOnlyInterface

getQuaternion

public javax.vecmath.Quat4d getQuaternion(int imuIndex)
Specified by:
getQuaternion in interface ProcessedIMUSensorsReadOnlyInterface

getAcceleration

public FrameVector getAcceleration(int imuIndex)
Specified by:
getAcceleration in interface ProcessedIMUSensorsReadOnlyInterface

getAngularVelocity

public FrameVector getAngularVelocity(int imuIndex)
Specified by:
getAngularVelocity in interface ProcessedIMUSensorsReadOnlyInterface

getYaw

public double getYaw(int imuIndex)
Specified by:
getYaw in interface ProcessedIMUSensorsReadOnlyInterface

getPitch

public double getPitch(int imuIndex)
Specified by:
getPitch in interface ProcessedIMUSensorsReadOnlyInterface

getRoll

public double getRoll(int imuIndex)
Specified by:
getRoll in interface ProcessedIMUSensorsReadOnlyInterface

getAngularAcceleration

public FrameVector getAngularAcceleration(int imuIndex)
Specified by:
getAngularAcceleration in interface ProcessedIMUSensorsReadOnlyInterface