javax.robotics.simulator
Class JointControlSimulation

java.lang.Object
  javax.media.j3d.SceneGraphObject
      javax.media.j3d.Node
          javax.media.j3d.Leaf
              javax.media.j3d.Behavior
                  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)