hmi.physics.controller
Class BallJointController

java.lang.Object
  hmi.physics.controller.BallJointController

All Implemented Interfaces:

PhysicalController

public class BallJointController
extends Object
implements PhysicalController

A PD-controller that guides a ball joint to a certain desired angle and (optionally) desired avelocity for each angle: torque = ks * (desiredangle-currentangle) + ds * (desiredavelocity - currentavelocity) with ks the spring gain, ds the damper gain Note that this controller requires a high physical simulation rate (3 ms or less)

Field Summary

private float	anglex
private float	angley
private float	anglez
private float	aprevx
private float	aprevy
private float	aprevz
private float	avelx
private float	avely
private float	avelz
private static float	DEFAULT_DSX
private static float	DEFAULT_DSY
private static float	DEFAULT_DSZ
private static float	DEFAULT_KSX
private static float	DEFAULT_KSY
private static float	DEFAULT_KSZ
private String[]	desJointIDs
private float	dsx
private float	dsy
private float	dsz
private boolean	firstRun
private PhysicalJoint	joint
private String	jointId
private String[]	jointIDs
private float	ksx
private float	ksy
private float	ksz
private org.slf4j.Logger	logger
private PhysicalHumanoid	pHuman

Constructor Summary

BallJointController()

BallJointController(PhysicalJoint j, float ax, float ay, float az)
Constructor, sets up a PD-controller with 0 desired velocity Spring and damper gains are set up to dampen a shoulder joint that loosely hangs down

BallJointController(PhysicalJoint j, float ax, float ay, float az, float avx, float avy, float avz, float kx, float ky, float kz, float dx, float dy, float dz)
Constructor

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	setParameterValue(String name, float value)
void	setParameterValue(String name, String value)
void	setPhysicalHumanoid(PhysicalHumanoid ph) Links the controller to a new set of physical joints
void	setSprings(float kx, float ky, float kz) Sets new spring values
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

logger

private org.slf4j.Logger logger

joint

private PhysicalJoint joint

jointId

private String jointId

anglex

private float anglex

angley

private float angley

anglez

private float anglez

avelx

private float avelx

avely

private float avely

avelz

private float avelz

aprevx

private float aprevx

aprevy

private float aprevy

aprevz

private float aprevz

ksx

private float ksx

dsx

private float dsx

ksy

private float ksy

dsy

private float dsy

ksz

private float ksz

dsz

private float dsz

DEFAULT_KSX

private static final float DEFAULT_KSX

See Also:

Constant Field Values

DEFAULT_DSX

private static final float DEFAULT_DSX

See Also:

Constant Field Values

DEFAULT_KSY

private static final float DEFAULT_KSY

See Also:

Constant Field Values

DEFAULT_DSY

private static final float DEFAULT_DSY

See Also:

Constant Field Values

DEFAULT_KSZ

private static final float DEFAULT_KSZ

See Also:

Constant Field Values

DEFAULT_DSZ

private static final float DEFAULT_DSZ

See Also:

Constant Field Values

jointIDs

private String[] jointIDs

desJointIDs

private String[] desJointIDs

firstRun

private boolean firstRun

pHuman

private PhysicalHumanoid pHuman

Constructor Detail

BallJointController

public BallJointController(PhysicalJoint j,
                           float ax,
                           float ay,
                           float az,
                           float avx,
                           float avy,
                           float avz,
                           float kx,
                           float ky,
                           float kz,
                           float dx,
                           float dy,
                           float dz)

Constructor

Parameters:

j - physical joint that is controlled

ax - desired x angle

ay - desired y angle

az - desired z angle

avx - desired x avelocity

avy - desired y avelocity

avz - desired z avelocity

kx - spring gain x

ky - spring gain y

kz - spring gain z

dx - damper gain x

dy - damper gain y

dz - damper gain z Note that x y and z are just the 1st, 2nd and 3rd axis as set up in the physical joint, not necessarily x y and z axis.

BallJointController

public BallJointController(PhysicalJoint j,
                           float ax,
                           float ay,
                           float az)

Constructor, sets up a PD-controller with 0 desired velocity Spring and damper gains are set up to dampen a shoulder joint that loosely hangs down

Parameters:

j - controlled physical joint

ax - desired x angle

ay - desired y angle

az - desired z angle

BallJointController

public BallJointController()

Method Detail

setSprings

public void setSprings(float kx,
                       float ky,
                       float kz)

Sets new spring values

reset

public void reset()

Description copied from interface: PhysicalController

Clears out all previous time dependen variables

Specified by:

reset 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

getRequiredJointIDs

public String[] getRequiredJointIDs()

Description copied from interface: PhysicalController

Gets the ids of controlled joints

Specified by:

getRequiredJointIDs in interface PhysicalController

setPhysicalHumanoid

public void setPhysicalHumanoid(PhysicalHumanoid ph)

Description copied from interface: PhysicalController

Links the controller to a new set of physical joints

Specified by:

setPhysicalHumanoid in interface PhysicalController

Parameters:

ph - physical humanoid to link to

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