net.dermetfan.gdx.physics.box2d

Class PositionController.PD

java.lang.Object

net.dermetfan.gdx.physics.box2d.PositionController

net.dermetfan.gdx.physics.box2d.PositionController.PD

Enclosing class:

PositionController

public static class PositionController.PD
extends PositionController

a proportional-derivative controller

Since:

0.11.1

Author:

dermetfan

See Also:

PositionController.P, PositionController.D

Nested Class Summary

Nested classes/interfaces inherited from class net.dermetfan.gdx.physics.box2d.PositionController

PositionController.D, PositionController.P, PositionController.PD

Field Summary

Fields

Modifier and Type	Field and Description
private com.badlogic.gdx.math.Vector2	destination the setpoint
private com.badlogic.gdx.math.Vector2	gainD the gain of the derivative component
private com.badlogic.gdx.math.Vector2	gainP the gain of the proportional component

Fields inherited from class net.dermetfan.gdx.physics.box2d.PositionController

defaultUserDataAccessor, vec2

Constructor Summary

Constructors

Constructor and Description
PD(float gainP, float gainD, com.badlogic.gdx.math.Vector2 destination)
PD(com.badlogic.gdx.math.Vector2 gainP, com.badlogic.gdx.math.Vector2 gainD, com.badlogic.gdx.math.Vector2 destination)

Method Summary

Modifier and Type	Method and Description
com.badlogic.gdx.math.Vector2	calculateForce(com.badlogic.gdx.physics.box2d.Body body, com.badlogic.gdx.math.Vector2 point)
static float	calculateForce(float gainP, float gainD, float pos, float dest, float vel)
static com.badlogic.gdx.math.Vector2	calculateForce(float gainPX, float gainPY, float gainDX, float gainDY, float posX, float posY, float destX, float destY, float velX, float velY)
static com.badlogic.gdx.math.Vector2	calculateForce(com.badlogic.gdx.math.Vector2 gainP, com.badlogic.gdx.math.Vector2 gainD, com.badlogic.gdx.math.Vector2 pos, com.badlogic.gdx.math.Vector2 dest, com.badlogic.gdx.math.Vector2 vel)
com.badlogic.gdx.math.Vector2	calculateForceToCenter(com.badlogic.gdx.physics.box2d.Body body)
com.badlogic.gdx.math.Vector2	getDestination()
com.badlogic.gdx.math.Vector2	getGainD()
com.badlogic.gdx.math.Vector2	getGainP()
void	setDestination(com.badlogic.gdx.math.Vector2 destination)
void	setGainD(com.badlogic.gdx.math.Vector2 gainD)
void	setGainP(com.badlogic.gdx.math.Vector2 gainP)

Methods inherited from class net.dermetfan.gdx.physics.box2d.PositionController

applyForce, applyForceToCenter, applyForceToCenter, getUserDataAccessor, setUserDataAccessor

Methods inherited from class java.lang.Object

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

Field Detail

gainP

private com.badlogic.gdx.math.Vector2 gainP

the gain of the proportional component

gainD

private com.badlogic.gdx.math.Vector2 gainD

the gain of the derivative component

destination

private com.badlogic.gdx.math.Vector2 destination

the setpoint

Constructor Detail

PD

public PD(float gainP,
          float gainD,
          com.badlogic.gdx.math.Vector2 destination)

Parameters:

gainP - the proportional gain on both axes

gainD - the derivative gain on both axes

destination - the destination

PD

public PD(com.badlogic.gdx.math.Vector2 gainP,
          com.badlogic.gdx.math.Vector2 gainD,
          com.badlogic.gdx.math.Vector2 destination)

Parameters:

gainP - the gainP

gainD - the gainD

destination - the destination

Method Detail

calculateForce

public static float calculateForce(float gainP,
                                   float gainD,
                                   float pos,
                                   float dest,
                                   float vel)

See Also:

PositionController.P.calculateForce(float, float, float), PositionController.D.calculateForce(float, float)

calculateForce

public static com.badlogic.gdx.math.Vector2 calculateForce(float gainPX,
                                                           float gainPY,
                                                           float gainDX,
                                                           float gainDY,
                                                           float posX,
                                                           float posY,
                                                           float destX,
                                                           float destY,
                                                           float velX,
                                                           float velY)

See Also:

calculateForce(float, float, float, float, float)

calculateForce

public static com.badlogic.gdx.math.Vector2 calculateForce(com.badlogic.gdx.math.Vector2 gainP,
                                                           com.badlogic.gdx.math.Vector2 gainD,
                                                           com.badlogic.gdx.math.Vector2 pos,
                                                           com.badlogic.gdx.math.Vector2 dest,
                                                           com.badlogic.gdx.math.Vector2 vel)

See Also:

calculateForce(float, float, float, float, float, float, float, float, float, float)

calculateForce

public com.badlogic.gdx.math.Vector2 calculateForce(com.badlogic.gdx.physics.box2d.Body body,
                                                    com.badlogic.gdx.math.Vector2 point)

Specified by:

calculateForce in class PositionController

point - the world point at which the force should be applied

Returns:

the force to apply at the given point

calculateForceToCenter

public com.badlogic.gdx.math.Vector2 calculateForceToCenter(com.badlogic.gdx.physics.box2d.Body body)

Specified by:

calculateForceToCenter in class PositionController

Returns:

the force to apply at the center of mass of the Body

getGainP

public com.badlogic.gdx.math.Vector2 getGainP()

Returns:

the gainP

setGainP

public void setGainP(com.badlogic.gdx.math.Vector2 gainP)

Parameters:

gainP - the gainP to set

getGainD

public com.badlogic.gdx.math.Vector2 getGainD()

Returns:

the gainD

setGainD

public void setGainD(com.badlogic.gdx.math.Vector2 gainD)

Parameters:

gainD - the gainD to set

getDestination

public com.badlogic.gdx.math.Vector2 getDestination()

Returns:

the destination

setDestination

public void setDestination(com.badlogic.gdx.math.Vector2 destination)

Parameters:

destination - the destination to set