Package org.robwork.sdurw_simulation

Class SimulatedController

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw_simulation.SimulatedController

public class SimulatedController
extends Stateless

interface of a simulated controller

Constructor Summary

Constructors

Constructor	Description
SimulatedController(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
ControllerPtr	getControllerHandle(SimulatorPtr sim)	get the controller handle eg.
ControllerModelPtr	getControllerModel()	get the controllermodel of this simulated controller
java.lang.String	getControllerName()	get the name of this controller
static long	getCPtr(SimulatedController obj)
boolean	isEnabled()	true if this controller is enabled
void	reset(State state)	reset the controller to the applied state
void	setEnabled(boolean enabled)	disable or enable this controller
void	update(Simulator.UpdateInfo info, State state)	updates/steps the controller with time step dt.

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SimulatedController

public SimulatedController(long cPtr,
                           boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(SimulatedController obj)

delete

public void delete()

Overrides:

delete in class Stateless

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: