Package org.robwork.sdurwsim

Class PDController

java.lang.Object

org.robwork.sdurwsim.PDController

public class PDController
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
PDController(long cPtr, boolean cMemoryOwn)
PDController(java.lang.String name, DynamicDevicePtr rdev, JointController.ControlMode cmode, PDParam pdparam, double dt)
PDController(java.lang.String name, DynamicDevicePtr rdev, JointController.ControlMode cmode, PDParamVector pdparams, double dt)

Method Summary

Modifier and Type	Method	Description
void	delete()
Controller	getController()
java.lang.String	getControllerName()
long	getControlModes()
static long	getCPtr(PDController obj)
PDParamVector	getParameters()
Q	getQ()
Q	getQd()
double	getSampleTime()
boolean	isEnabled()
void	reset(State state)
void	setControlMode(JointController.ControlMode mode)
void	setEnabled(boolean enabled)
void	setParameters(PDParamVector params)
void	setSampleTime(double stime)
void	setTargetAcc(Q vals)
void	setTargetPos(Q target)
void	setTargetVel(Q vals)
void	update(Simulator.UpdateInfo info, State state)

Methods inherited from class java.lang.Object

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

Constructor Detail

PDController

public PDController(long cPtr,
                    boolean cMemoryOwn)

PDController

public PDController(java.lang.String name,
                    DynamicDevicePtr rdev,
                    JointController.ControlMode cmode,
                    PDParamVector pdparams,
                    double dt)

PDController

public PDController(java.lang.String name,
                    DynamicDevicePtr rdev,
                    JointController.ControlMode cmode,
                    PDParam pdparam,
                    double dt)

Method Detail

getCPtr

public static long getCPtr(PDController obj)

delete

public void delete()

getParameters

public PDParamVector getParameters()

setParameters

public void setParameters(PDParamVector params)

getSampleTime

public double getSampleTime()

setSampleTime

public void setSampleTime(double stime)

update

public void update(Simulator.UpdateInfo info,
                   State state)

reset

public void reset(State state)

getController

public Controller getController()

getControllerName

public java.lang.String getControllerName()

setEnabled

public void setEnabled(boolean enabled)

isEnabled

public boolean isEnabled()

getControlModes

public long getControlModes()

setControlMode

public void setControlMode(JointController.ControlMode mode)

setTargetPos

public void setTargetPos(Q target)

setTargetVel

public void setTargetVel(Q vals)

setTargetAcc

public void setTargetAcc(Q vals)

getQ

public Q getQ()

getQd

public Q getQd()