com.yobotics.simulationconstructionset.util.perturbance
Class TimeBasedPerturbance
java.lang.Object
com.yobotics.simulationconstructionset.util.perturbance.TimeBasedPerturbance
- All Implemented Interfaces:
- RobotControlElement, RobotController
public class TimeBasedPerturbance
- extends java.lang.Object
- implements RobotController
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
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
-
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