Class SimulatedController


  • public class SimulatedController
    extends Stateless

    interface of a simulated controller
    • Constructor Detail

      • SimulatedController

        public SimulatedController​(long cPtr,
                                   boolean cMemoryOwn)
    • Method Detail

      • getControllerName

        public java.lang.String getControllerName()
        get the name of this controller
        Returns:
        name of this controller
      • update

        public void update​(Simulator.UpdateInfo info,
                           State state)
        updates/steps the controller with time step dt. It will update
        the state state accordingly
        Parameters:
        info - [in] update information related to the time step.
        state - [in/out] the current state
      • reset

        public void reset​(State state)
        reset the controller to the applied state
        Parameters:
        state - [in] the state to reset to
      • getControllerHandle

        public ControllerPtr getControllerHandle​(SimulatorPtr sim)
        get the controller handle eg. statefull handle, associated with this simulated
        controller
        Returns:
      • getControllerModel

        public ControllerModelPtr getControllerModel()
        get the controllermodel of this simulated controller
        Returns:
      • setEnabled

        public void setEnabled​(boolean enabled)
        disable or enable this controller
        Parameters:
        enabled -
      • isEnabled

        public boolean isEnabled()
        true if this controller is enabled
        Returns: