Module com.marginallyclever.robotoverlord

Package com.marginallyclever.ro3.node.nodes.crab

Class CrabLeg

java.lang.Object

com.marginallyclever.ro3.node.nodes.crab.CrabLeg

public class CrabLeg
extends Object

Internal description of each leg for calculating kinematics.

Field Summary

Fields

Modifier and Type	Field	Description
double	angleCoxa
double	angleFemur
double	angleTibia
final javax.vecmath.Point3d	contactPointIdeal
final javax.vecmath.Point3d	contactPointLast
final javax.vecmath.Point3d	contactPointNext
Pose	coxa
Pose	femur
boolean	isTouchingGround
Pose	lastPosition
Pose	nextPosition
double	startingCoxaAngle
Pose	targetPosition
Pose	tibia
Pose	toe

Constructor Summary

Constructors

Constructor	Description
CrabLeg(Crab crab, String legName)

Method Summary

Modifier and Type	Method	Description
void	animateStep(double timeUnit)	Interpolate between pointOfContactLast to pointOfContactNext based on timeUnit.
void	checkLegTouchingGround(RayPickSystem rayPickSystem)	is the leg touching the ground?
double	getAnimationTime()
CrabLegPhase	getPhase()
javax.vecmath.Point3d	getToePosition()
void	putFootDown(double dt)	Move the foot towards the floor.
void	setAngles(double coxa, double femur, double tibia)
void	setPhase(CrabLegPhase phase)
void	updateVisualizations()	Update the visualization of the next and last contact points.

Methods inherited from class java.lang.Object

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

Field Details

coxa

public Pose coxa

femur

public Pose femur

tibia

public Pose tibia

toe

public Pose toe

targetPosition

public Pose targetPosition

nextPosition

public Pose nextPosition

lastPosition

public Pose lastPosition

startingCoxaAngle

public double startingCoxaAngle

angleCoxa

public double angleCoxa

angleFemur

public double angleFemur

angleTibia

public double angleTibia

contactPointIdeal

public final javax.vecmath.Point3d contactPointIdeal

contactPointLast

public final javax.vecmath.Point3d contactPointLast

contactPointNext

public final javax.vecmath.Point3d contactPointNext

isTouchingGround

public boolean isTouchingGround

Constructor Details

CrabLeg

public CrabLeg(Crab crab,
 String legName)

Method Details

setAngles

public void setAngles(double coxa,
 double femur,
 double tibia)

updateVisualizations

public void updateVisualizations()

Update the visualization of the next and last contact points.

animateStep

public void animateStep(double timeUnit)

Interpolate between pointOfContactLast to pointOfContactNext based on timeUnit. Interpolate the z up and down in an abs(sine) wave.

Parameters:

timeUnit - 0 to 1

putFootDown

public void putFootDown(double dt)

Move the foot towards the floor.

Parameters:

dt - time delta

getToePosition

public javax.vecmath.Point3d getToePosition()

setPhase

public void setPhase(CrabLegPhase phase)

getPhase

public CrabLegPhase getPhase()

checkLegTouchingGround

public void checkLegTouchingGround(RayPickSystem rayPickSystem)

is the leg touching the ground?

Parameters:

rayPickSystem - the ray pick system to use for ground detection

getAnimationTime

public double getAnimationTime()