hmi.physics.controller
Class HingeJointController

java.lang.Object
  hmi.physics.controller.HingeJointController

All Implemented Interfaces:

PhysicalController

public class HingeJointController
extends Object
implements PhysicalController

A PD-controller that guides a hinge joint (or one angle of a joint with more DoF) to a certain desired angle and (optionally) desired avelocity torque = ks * (desiredangle-currentangle) + ds * (desiredavelocity - currentavelocity) with ks the spring gain, ds the damper gain

Field Summary

private float	angle
private float	aprev
private float	avel
private int	axis
private String[]	desJointIDs
private float	ds
private static float	DS_DEFAULT
private boolean	firstRun
private PhysicalJoint	joint
private String	jointId
private String[]	jointIDs
private float	ks
private static float	KS_DEFAULT
private PhysicalHumanoid	pHuman

Constructor Summary

HingeJointController()

HingeJointController(PhysicalJoint j, float a)
Sets up a PD-controller with 0 velocity and default gain values

HingeJointController(PhysicalJoint j, float a, float av, float k, float d, int ax)
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	setDamper(float d) Sets the damper gain
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	setSpring(float k) Set the spring gain
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

joint

private PhysicalJoint joint

jointId

private String jointId

angle

private float angle

aprev

private float aprev

KS_DEFAULT

private static final float KS_DEFAULT

See Also:

Constant Field Values

DS_DEFAULT

private static final float DS_DEFAULT

See Also:

Constant Field Values

ks

private float ks

ds

private float ds

avel

private float avel

axis

private int axis

firstRun

private boolean firstRun

pHuman

private PhysicalHumanoid pHuman

jointIDs

private String[] jointIDs

desJointIDs

private String[] desJointIDs

Constructor Detail

HingeJointController

public HingeJointController(PhysicalJoint j,
                            float a,
                            float av,
                            float k,
                            float d,
                            int ax)

Constructor

Parameters:

j - controlled joint

a - desired joint angle

av - desired angular velocity

k - spring gain

d - damper gain

ax - joint axis to control (0..2)

HingeJointController

public HingeJointController()

HingeJointController

public HingeJointController(PhysicalJoint j,
                            float a)

Sets up a PD-controller with 0 velocity and default gain values

Parameters:

j - controlled joint

a - desired joint angle Default spring and damper gains set up a controller that loosely keeps an elbow hanging down

Method Detail

setDamper

public void setDamper(float d)

Sets the damper gain

Parameters:

d - damper gain

setSpring

public void setSpring(float k)

Set the spring gain

Parameters:

k - spring gain

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