hmi.physics.controller
Class FrictionController

java.lang.Object
  hmi.physics.controller.FrictionController

All Implemented Interfaces:

PhysicalController

public class FrictionController
extends Object
implements PhysicalController

Applies uniform friction on each DoF of a joint, implemented as a damper TODO: test through BML

Author:

welberge

Field Summary

private float[]	dAngle
private String[]	desJointIDs
private float	friction
private PhysicalJoint	joint
private String	jointId
private String[]	jointIDs
private float[]	oldAngle
private PhysicalHumanoid	pHuman

Constructor Summary

FrictionController()

FrictionController(PhysicalJoint j, float fric)
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	setFriction(float f)
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	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

friction

private float friction

joint

private PhysicalJoint joint

oldAngle

private float[] oldAngle

dAngle

private float[] dAngle

jointIDs

private String[] jointIDs

desJointIDs

private String[] desJointIDs

jointId

private String jointId

pHuman

private PhysicalHumanoid pHuman

Constructor Detail

FrictionController

public FrictionController()

FrictionController

public FrictionController(PhysicalJoint j,
                          float fric)

Constructor

Parameters:

j - Joint to apply friction on

fric - amount of friction

Method Detail

setFriction

public void setFriction(float f)

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

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

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