hmi.physics.controller
Class RigidBodyDamper

java.lang.Object
  hmi.physics.controller.RigidBodyDamper

All Implemented Interfaces:

PhysicalController

public class RigidBodyDamper
extends Object
implements PhysicalController

Field Summary

private float[]	avel
private PhysicalSegment	body
private String	bodyId
private String[]	desJointIDs
private static float	DS_LINDEFAULT
private static float	DS_ROTDEFAULT
private float	dslin
private float	dsrot
private String[]	jointIDs
private PhysicalHumanoid	pHuman
private float[]	vel

Constructor Summary

RigidBodyDamper()

RigidBodyDamper(PhysicalSegment ps)

RigidBodyDamper(PhysicalSegment ps, float dsr, float dsl)

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	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

DS_ROTDEFAULT

private static final float DS_ROTDEFAULT

See Also:

Constant Field Values

DS_LINDEFAULT

private static final float DS_LINDEFAULT

See Also:

Constant Field Values

dsrot

private float dsrot

dslin

private float dslin

bodyId

private String bodyId

pHuman

private PhysicalHumanoid pHuman

body

private PhysicalSegment body

jointIDs

private String[] jointIDs

desJointIDs

private String[] desJointIDs

vel

private float[] vel

avel

private float[] avel

Constructor Detail

RigidBodyDamper

public RigidBodyDamper()

RigidBodyDamper

public RigidBodyDamper(PhysicalSegment ps)

RigidBodyDamper

public RigidBodyDamper(PhysicalSegment ps,
                       float dsr,
                       float dsl)

Method Detail

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

getRequiredJointIDs

public String[] getRequiredJointIDs()

Description copied from interface: PhysicalController

Gets the ids of controlled joints

Specified by:

getRequiredJointIDs in interface PhysicalController

reset

public void reset()

Description copied from interface: PhysicalController

Clears out all previous time dependen variables

Specified by:

reset 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

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

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