com.yobotics.simulationconstructionset
Class IMUMount

java.lang.Object
  extended by com.yobotics.simulationconstructionset.IMUMount

public class IMUMount
extends java.lang.Object


Constructor Summary
IMUMount(java.lang.String name, javax.media.j3d.Transform3D offset, Robot robot)
           
 
Method Summary
 double getAccelerationGaussianBiasMean()
           
 double getAccelerationGaussianBiasStdDev()
           
 double getAccelerationGaussianNoiseMean()
           
 double getAccelerationGaussianNoiseStdDev()
           
 double getAngularVelocityGaussianBiasMean()
           
 double getAngularVelocityGaussianBiasStdDev()
           
 double getAngularVelocityGaussianNoiseMean()
           
 double getAngularVelocityGaussianNoiseStdDev()
           
 void getAngularVelocityInBody(javax.vecmath.Vector3d angularVelocityInBodyToPack)
           
 void getLinearAccelerationInBody(javax.vecmath.Vector3d linearAccelerationInBodyToPack)
           
 java.lang.String getName()
           
 void getOrientation(javax.vecmath.Matrix3d rotationMatrixToPack)
           
 void getOrientation(javax.vecmath.Quat4d orientationToPack)
           
 Joint getParentJoint()
           
 void getTransformFromMountToJoint(javax.media.j3d.Transform3D transformToPack)
           
 void setAccelerationBiasParameters(double accelerationGaussianBiasMean, double accelerationGaussianBiasStdDev)
           
 void setAccelerationNoiseParameters(double accelerationGaussianNoiseMean, double accelerationGaussianNoiseStdDev)
           
 void setAngularVelocityBiasParameters(double angularVelocityGaussianBiasMean, double angularVelocityGaussianBiasStdDev)
           
 void setAngularVelocityInBody(javax.vecmath.Vector3d angularVelocityInBody)
           
 void setAngularVelocityNoiseParameters(double angularVelocityGaussianNoiseMean, double angularVelocityGaussianNoiseStdDev)
           
 void setLinearAccelerationInBody(javax.vecmath.Vector3d linearAccelerationInBody)
           
 void setOffset(javax.media.j3d.Transform3D newTransformFromMountToJoint)
           
 void setOrientation(javax.vecmath.Quat4d orientation)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

IMUMount

public IMUMount(java.lang.String name,
                javax.media.j3d.Transform3D offset,
                Robot robot)
Method Detail

getName

public java.lang.String getName()

getParentJoint

public Joint getParentJoint()

setOrientation

public void setOrientation(javax.vecmath.Quat4d orientation)

getOrientation

public void getOrientation(javax.vecmath.Quat4d orientationToPack)

getOrientation

public void getOrientation(javax.vecmath.Matrix3d rotationMatrixToPack)

setAngularVelocityInBody

public void setAngularVelocityInBody(javax.vecmath.Vector3d angularVelocityInBody)

getAngularVelocityInBody

public void getAngularVelocityInBody(javax.vecmath.Vector3d angularVelocityInBodyToPack)

setLinearAccelerationInBody

public void setLinearAccelerationInBody(javax.vecmath.Vector3d linearAccelerationInBody)

getLinearAccelerationInBody

public void getLinearAccelerationInBody(javax.vecmath.Vector3d linearAccelerationInBodyToPack)

getTransformFromMountToJoint

public void getTransformFromMountToJoint(javax.media.j3d.Transform3D transformToPack)

setOffset

public void setOffset(javax.media.j3d.Transform3D newTransformFromMountToJoint)

setAngularVelocityNoiseParameters

public void setAngularVelocityNoiseParameters(double angularVelocityGaussianNoiseMean,
                                              double angularVelocityGaussianNoiseStdDev)

setAngularVelocityBiasParameters

public void setAngularVelocityBiasParameters(double angularVelocityGaussianBiasMean,
                                             double angularVelocityGaussianBiasStdDev)

setAccelerationNoiseParameters

public void setAccelerationNoiseParameters(double accelerationGaussianNoiseMean,
                                           double accelerationGaussianNoiseStdDev)

setAccelerationBiasParameters

public void setAccelerationBiasParameters(double accelerationGaussianBiasMean,
                                          double accelerationGaussianBiasStdDev)

getAccelerationGaussianNoiseMean

public double getAccelerationGaussianNoiseMean()

getAccelerationGaussianNoiseStdDev

public double getAccelerationGaussianNoiseStdDev()

getAccelerationGaussianBiasMean

public double getAccelerationGaussianBiasMean()

getAccelerationGaussianBiasStdDev

public double getAccelerationGaussianBiasStdDev()

getAngularVelocityGaussianNoiseMean

public double getAngularVelocityGaussianNoiseMean()

getAngularVelocityGaussianNoiseStdDev

public double getAngularVelocityGaussianNoiseStdDev()

getAngularVelocityGaussianBiasMean

public double getAngularVelocityGaussianBiasMean()

getAngularVelocityGaussianBiasStdDev

public double getAngularVelocityGaussianBiasStdDev()