hmi.physics.controller
Class MeathookBalanceController

java.lang.Object
  hmi.physics.controller.MeathookBalanceController

All Implemented Interfaces:

PhysicalController

public class MeathookBalanceController
extends Object
implements PhysicalController

TODO: test this

Author:

welberge

Field Summary

private float	d0
private String[]	desJointIDs
private float[]	dir
private float[]	dirDiff
private float	dOffset
private float	dRest
private float	Fold
private String[]	jointIDs
private float	kd
private float	kv
private float	mass
private PhysicalHumanoid	pHuman
private float[]	pos
private PhysicalSegment	seg
private float[]	springOrig

Constructor Summary

MeathookBalanceController(PhysicalHumanoid p)

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 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

springOrig

private float[] springOrig

dir

private float[] dir

dirDiff

private float[] dirDiff

pos

private float[] pos

d0

private float d0

dOffset

private float dOffset

mass

private float mass

dRest

private float dRest

kv

private float kv

kd

private float kd

Fold

private float Fold

pHuman

private PhysicalHumanoid pHuman

seg

private PhysicalSegment seg

jointIDs

private final String[] jointIDs

desJointIDs

private String[] desJointIDs

Constructor Detail

MeathookBalanceController

public MeathookBalanceController(PhysicalHumanoid p)

Method Detail

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

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