net.dermetfan.gdx.physics.box2d

Class RotationController.PD

java.lang.Object

net.dermetfan.gdx.physics.box2d.RotationController

net.dermetfan.gdx.physics.box2d.RotationController.PD

Enclosing class:

RotationController

public static class RotationController.PD
extends RotationController

a proportional-derivative controller

Since:

0.11.1

Author:

dermetfan

See Also:

RotationController.P, RotationController.D

Nested Class Summary

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

RotationController.D, RotationController.P, RotationController.PD

Field Summary

Fields

Modifier and Type	Field and Description
private java.lang.Number	angle the setpoint
private java.lang.Number	gainD the gain of the derivative component
private java.lang.Number	gainP the gain of the proportional component
private com.badlogic.gdx.math.Vector2	target the point to rotate towards (may be null)

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

defaultUserDataAccessor

Constructor Summary

Constructors

Constructor and Description
PD(java.lang.Number gainP, java.lang.Number gainD, java.lang.Number angle)
PD(java.lang.Number gainP, java.lang.Number gainD, java.lang.Number angle, com.badlogic.gdx.math.Vector2 target)
PD(java.lang.Number gainP, java.lang.Number gainD, com.badlogic.gdx.math.Vector2 target)

Method Summary

Modifier and Type	Method and Description
float	calculateTorque(com.badlogic.gdx.physics.box2d.Body body)
static float	calculateTorque(float gainP, float gainD, float rotation, float target, float vel)
java.lang.Number	getAngle()
java.lang.Number	getGainD()
java.lang.Number	getGainP()
com.badlogic.gdx.math.Vector2	getTarget()
void	setAngle(java.lang.Number angle)
void	setGainD(java.lang.Number gainD)
void	setGainP(java.lang.Number gainP)
void	setTarget(com.badlogic.gdx.math.Vector2 target)

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

applyTorque, applyTorque, getUserDataAccessor, setUserDataAccessor

Methods inherited from class java.lang.Object

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

Field Detail

gainP

private java.lang.Number gainP

the gain of the proportional component

gainD

private java.lang.Number gainD

the gain of the derivative component

angle

private java.lang.Number angle

the setpoint

target

private com.badlogic.gdx.math.Vector2 target

the point to rotate towards (may be null)

Constructor Detail

PD

public PD(java.lang.Number gainP,
          java.lang.Number gainD,
          java.lang.Number angle)

Parameters:

gainP - the gainP

gainD - the gainD

angle - the angle

PD

public PD(java.lang.Number gainP,
          java.lang.Number gainD,
          com.badlogic.gdx.math.Vector2 target)

Parameters:

gainP - the gainP

gainD - the gainD

target - the target

PD

public PD(java.lang.Number gainP,
          java.lang.Number gainD,
          java.lang.Number angle,
          com.badlogic.gdx.math.Vector2 target)

Parameters:

gainP - the gainP

gainD - the gainD

angle - the angle

target - the target

Method Detail

calculateTorque

public static float calculateTorque(float gainP,
                                    float gainD,
                                    float rotation,
                                    float target,
                                    float vel)

See Also:

RotationController.P.calculateTorque(float, float, float), RotationController.D.calculateTorque(float, float)

calculateTorque

public float calculateTorque(com.badlogic.gdx.physics.box2d.Body body)

Specified by:

calculateTorque in class RotationController

Returns:

the torque to apply

getGainP

public java.lang.Number getGainP()

Returns:

the gainP

setGainP

public void setGainP(java.lang.Number gainP)

Parameters:

gainP - the gainP to set

getGainD

public java.lang.Number getGainD()

Returns:

the gainD

setGainD

public void setGainD(java.lang.Number gainD)

Parameters:

gainD - the gainD to set

getAngle

public java.lang.Number getAngle()

Returns:

the angle

setAngle

public void setAngle(java.lang.Number angle)

Parameters:

angle - the angle to set

getTarget

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

Returns:

the target

setTarget

public void setTarget(com.badlogic.gdx.math.Vector2 target)

Parameters:

target - the target to set