javax.robotics.simulator
Class JointControlSimulation

java.lang.Object
  extended by javax.media.j3d.SceneGraphObject
      extended by javax.media.j3d.Node
          extended by javax.media.j3d.Leaf
              extended by javax.media.j3d.Behavior
                  extended by javax.robotics.simulator.JointControlSimulation
All Implemented Interfaces:
DerivableFunction2

public class JointControlSimulation
extends javax.media.j3d.Behavior
implements DerivableFunction2

Version:
01/nov/06
Author:
carmine lia

Field Summary
 
Fields inherited from class javax.media.j3d.Node
ALLOW_AUTO_COMPUTE_BOUNDS_READ, ALLOW_AUTO_COMPUTE_BOUNDS_WRITE, ALLOW_BOUNDS_READ, ALLOW_BOUNDS_WRITE, ALLOW_COLLIDABLE_READ, ALLOW_COLLIDABLE_WRITE, ALLOW_LOCAL_TO_VWORLD_READ, ALLOW_LOCALE_READ, ALLOW_PARENT_READ, ALLOW_PICKABLE_READ, ALLOW_PICKABLE_WRITE, ENABLE_COLLISION_REPORTING, ENABLE_PICK_REPORTING
 
Constructor Summary
JointControlSimulation(Robot3D robot, JointController controller, Solver2 solver, Trajectory trj, int points)
           
 
Method Summary
 double[][] getJointData()
           
 MultiPlotPanel getPlotPanel()
           
 RobotPanel getRobotPanel()
           
 void initialize()
           
 void play()
          Plays the simulation.
 void processStimulus(java.util.Enumeration arg0)
           
 void start()
          Starts the simulation.
 void stop()
          Stops the simulation.
 RVector xDot2(RVector q, RVector qp)
          Second order function x'' = f(x, x').
 
Methods inherited from class javax.media.j3d.Behavior
getEnable, getNumSchedulingIntervals, getSchedulingBoundingLeaf, getSchedulingBounds, getSchedulingInterval, getView, getWakeupCondition, postId, setEnable, setSchedulingBoundingLeaf, setSchedulingBounds, setSchedulingInterval, updateNodeReferences, wakeupOn
 
Methods inherited from class javax.media.j3d.Node
cloneNode, cloneTree, cloneTree, cloneTree, cloneTree, cloneTree, cloneTree, duplicateNode, getBounds, getBoundsAutoCompute, getCollidable, getLocale, getLocalToVworld, getLocalToVworld, getParent, getPickable, setBounds, setBoundsAutoCompute, setCollidable, setPickable
 
Methods inherited from class javax.media.j3d.SceneGraphObject
clearCapability, clearCapabilityIsFrequent, duplicateSceneGraphObject, getCapability, getCapabilityIsFrequent, getName, getUserData, isCompiled, isLive, setCapability, setCapabilityIsFrequent, setName, setUserData, toString
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

JointControlSimulation

public JointControlSimulation(Robot3D robot,
                              JointController controller,
                              Solver2 solver,
                              Trajectory trj,
                              int points)
Method Detail

initialize

public void initialize()
Specified by:
initialize in class javax.media.j3d.Behavior

processStimulus

public void processStimulus(java.util.Enumeration arg0)
Specified by:
processStimulus in class javax.media.j3d.Behavior

getPlotPanel

public final MultiPlotPanel getPlotPanel()

getRobotPanel

public final RobotPanel getRobotPanel()

getJointData

public final double[][] getJointData()

play

public void play()
Plays the simulation.


start

public void start()
Starts the simulation.


stop

public void stop()
Stops the simulation.


xDot2

public RVector xDot2(RVector q,
                     RVector qp)
Description copied from interface: DerivableFunction2
Second order function x'' = f(x, x').

Specified by:
xDot2 in interface DerivableFunction2
Parameters:
q - first indipendent variable (position)
qp - second indipendent variable (velocity).
Returns:
x'' (acceleration)