com.yobotics.simulationconstructionset.util
Class EuclideanPositionController

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.EuclideanPositionController
All Implemented Interfaces:
PositionController

public class EuclideanPositionController
extends java.lang.Object
implements PositionController


Constructor Summary
EuclideanPositionController(java.lang.String prefix, ReferenceFrame bodyFrame, YoVariableRegistry parentRegistry)
           
 
Method Summary
 void compute(FrameVector output, FramePoint desiredPosition, FrameVector desiredVelocity, FrameVector currentVelocity, FrameVector feedForward)
           
 ReferenceFrame getBodyFrame()
           
 void packPositionError(FrameVector ret)
           
 void setDerivativeGains(double[] derivativeGains)
           
 void setDerivativeGains(double derivativeGainX, double derivativeGainY, double derivativeGainZ)
           
 void setDerivativeGains(javax.vecmath.Matrix3d derivativeGainMatrix)
           
 void setDerivativeGainsToZero()
           
 void setProportionalGains(double[] proportionalGains)
           
 void setProportionalGains(double proportionalGainX, double proportionalGainY, double proportionalGainZ)
           
 void setProportionalGains(javax.vecmath.Matrix3d proportionalGainMatrix)
           
 void setProportionalGainsToZero()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

EuclideanPositionController

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

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