hmi.physics.controller
Class BalanceController

java.lang.Object
  hmi.physics.controller.BalanceController

All Implemented Interfaces:

PhysicalController

public class BalanceController
extends Object
implements PhysicalController

Balance controller Entry condition: both feet are flat on the ground Uses the rotation of both feet to determine the local facing direction of the physical humanoid.

Author:

welberge

Field Summary

private float[]	balanceOffset
private float[]	center
private String[]	desjointIDs
private boolean	firstRun
private boolean	groundCheck
private String[]	jointIDs
private float	kpKnee
private float	kpx
private float	kpz
private float	kvKnee
private float	kvx
private float	kvz
private float[]	left
private PhysicalJoint	leftAnkle
private PhysicalSegment	leftFoot
private float[]	leftFw
private PhysicalJoint	leftHip
private PhysicalJoint	leftKnee
private float	lHipC
private float	lHipCZ
private float	lKneeC
private float	ll
private float[]	offset
private float	pelH
private PhysicalHumanoid	ph
private float[]	qBody
private float[]	qLeftFoot
private float[]	qRightFoot
private float[]	relCoM
private float[]	relCoMDiff
private float	rHipC
private float	rHipCZ
private float[]	right
private PhysicalJoint	rightAnkle
private PhysicalSegment	rightFoot
private float[]	rightFw
private PhysicalJoint	rightHip
private PhysicalJoint	rightKnee
private float	rKneeC
private float	rotXLFoot
private float	rotXRFoot
private float	rotZLFoot
private float	rotZRFoot
private float	s
private float	ul
private float[]	v1

Constructor Summary

BalanceController()

BalanceController(PhysicalHumanoid p)

BalanceController(PhysicalHumanoid p, boolean gcheck)

Method Summary

PhysicalController	copy(PhysicalHumanoid ph) Creates a copy of the controller
String[]	getDesiredJointIDs() Gets the ids of joints the controller would like to steer if available
String	getParameterValue(String name) Get the parameter value of parameter name, return null if not found
String[]	getRequiredJointIDs() Gets the ids of controlled joints
void	reset() Clears out all previous time dependen variables
void	setKMultiplier(float km)
void	setParameterValue(String name, float value)
void	setParameterValue(String name, String value)
void	setPelH(float pelH)
void	setPhysicalHumanoid(PhysicalHumanoid p) Links the controller to a new set of physical joints
void	update(double timeDiff) Updates the controller

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

ph

private PhysicalHumanoid ph

leftFoot

private PhysicalSegment leftFoot

rightFoot

private PhysicalSegment rightFoot

leftAnkle

private PhysicalJoint leftAnkle

rightAnkle

private PhysicalJoint rightAnkle

rightHip

private PhysicalJoint rightHip

leftHip

private PhysicalJoint leftHip

rightKnee

private PhysicalJoint rightKnee

leftKnee

private PhysicalJoint leftKnee

qLeftFoot

private float[] qLeftFoot

qRightFoot

private float[] qRightFoot

qBody

private float[] qBody

relCoM

private float[] relCoM

relCoMDiff

private float[] relCoMDiff

left

private float[] left

right

private float[] right

center

private float[] center

offset

private float[] offset

balanceOffset

private final float[] balanceOffset

leftFw

private float[] leftFw

rightFw

private float[] rightFw

kpx

private float kpx

kvx

private float kvx

kpz

private float kpz

kvz

private float kvz

kpKnee

private float kpKnee

kvKnee

private float kvKnee

rotXLFoot

private float rotXLFoot

rotXRFoot

private float rotXRFoot

rotZLFoot

private float rotZLFoot

rotZRFoot

private float rotZRFoot

lKneeC

private float lKneeC

rKneeC

private float rKneeC

lHipC

private float lHipC

rHipC

private float rHipC

lHipCZ

private float lHipCZ

rHipCZ

private float rHipCZ

ul

private float ul

ll

private float ll

pelH

private float pelH

v1

private float[] v1

groundCheck

private boolean groundCheck

s

private float s

jointIDs

private final String[] jointIDs

desjointIDs

private String[] desjointIDs

firstRun

private boolean firstRun

Constructor Detail

BalanceController

public BalanceController()

BalanceController

public BalanceController(PhysicalHumanoid p)

BalanceController

public BalanceController(PhysicalHumanoid p,
                         boolean gcheck)

Method Detail

reset

public void reset()

Description copied from interface: PhysicalController

Clears out all previous time dependen variables

Specified by:

reset in interface PhysicalController

setKMultiplier

public void setKMultiplier(float km)

setPhysicalHumanoid

public void setPhysicalHumanoid(PhysicalHumanoid p)

Description copied from interface: PhysicalController

Links the controller to a new set of physical joints

Specified by:

setPhysicalHumanoid in interface PhysicalController

Parameters:

p - physical humanoid to link to

getRequiredJointIDs

public String[] getRequiredJointIDs()

Description copied from interface: PhysicalController

Gets the ids of controlled joints

Specified by:

getRequiredJointIDs in interface PhysicalController

update

public void update(double timeDiff)

Description copied from interface: PhysicalController

Updates the controller

Specified by:

update in interface PhysicalController

Parameters:

timeDiff - time since last update

setPelH

public void setPelH(float pelH)

Parameters:

pelH - the pelH to set

copy

public PhysicalController copy(PhysicalHumanoid ph)

Description copied from interface: PhysicalController

Creates a copy of the controller

Specified by:

copy in interface PhysicalController

getParameterValue

public String getParameterValue(String name)

Description copied from interface: PhysicalController

Get the parameter value of parameter name, return null if not found

Specified by:

getParameterValue in interface PhysicalController

setParameterValue

public void setParameterValue(String name,
                              String value)

Specified by:

setParameterValue in interface PhysicalController

setParameterValue

public void setParameterValue(String name,
                              float value)

Specified by:

setParameterValue in interface PhysicalController

getDesiredJointIDs

public String[] getDesiredJointIDs()

Description copied from interface: PhysicalController

Gets the ids of joints the controller would like to steer if available

Specified by:

getDesiredJointIDs in interface PhysicalController