simbad.sim
Class DefaultKinematic

java.lang.Object
  extended by simbad.sim.KinematicModel
      extended by simbad.sim.DefaultKinematic

public class DefaultKinematic
extends KinematicModel

This is the standard kinematic with two control parameters : translation and rotation. Each agent use this kinematic by default.


Field Summary
private  double rotationalVelocity
          Rotational velocity in radians per second
private  double translationalVelocity
          Translational velocity in meters per second.
 
Constructor Summary
DefaultKinematic()
           
 
Method Summary
 double getRotationalVelocity()
          Gets rotational velocity in radians per second
 double getTranslationalVelocity()
          Gets translational velocity in meter per second.
protected  void reset()
          Resets all control parameters to their initial values.
 void setRotationalVelocity(double rv)
          Sets rotational velocity in radians per second.
 void setTranslationalVelocity(double tv)
          Sets translational velocity in meter per second.
protected  java.lang.String toString(java.text.DecimalFormat format)
          Resets all control parameters to their initial values.
protected  void update(double elapsedSecond, javax.media.j3d.Transform3D rotation, javax.vecmath.Vector3d instantTranslation, javax.vecmath.Vector3d instantRotation)
          Compute instant translation and rotation vectors .
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

translationalVelocity

private double translationalVelocity
Translational velocity in meters per second.


rotationalVelocity

private double rotationalVelocity
Rotational velocity in radians per second

Constructor Detail

DefaultKinematic

DefaultKinematic()
Method Detail

reset

protected void reset()
Resets all control parameters to their initial values.

Specified by:
reset in class KinematicModel

update

protected void update(double elapsedSecond,
                      javax.media.j3d.Transform3D rotation,
                      javax.vecmath.Vector3d instantTranslation,
                      javax.vecmath.Vector3d instantRotation)
Compute instant translation and rotation vectors .

Specified by:
update in class KinematicModel
Parameters:
elapsedSecond - time elapsed
rotation - current rotation
instantTranslation - to store translation
instantRotation - to store rotation

setRotationalVelocity

public final void setRotationalVelocity(double rv)
Sets rotational velocity in radians per second.


setTranslationalVelocity

public final void setTranslationalVelocity(double tv)
Sets translational velocity in meter per second.


getRotationalVelocity

public final double getRotationalVelocity()
Gets rotational velocity in radians per second


getTranslationalVelocity

public final double getTranslationalVelocity()
Gets translational velocity in meter per second.


toString

protected java.lang.String toString(java.text.DecimalFormat format)
Resets all control parameters to their initial values.

Specified by:
toString in class KinematicModel