Class ControlFuncRotateAbout

java.lang.Object
  ControlFuncRotateAbout

All Implemented Interfaces:

IControlFunc

public class ControlFuncRotateAbout
extends java.lang.Object
implements IControlFunc

Control function implementing "rotate about point"

Since:

1.0

Constructor Summary

ControlFuncRotateAbout()

ControlFuncRotateAbout(ControlFuncRotateAbout src)

ControlFuncRotateAbout(double[] arrPtTowards, double lfVel)

Method Summary

boolean	directionConstantQ(double lfCurrTime, double[] arrLfStateSrc, ISensor sensors, IEnvironment env, ILogicVarBundle logicVars, int nIdxOffsetState)
void	getDerivs(double lfCurrTime, double[] arrLfStateSrc, ISensor sensors, IEnvironment env, ILogicVarBundle logicVars, double[] arrLfDerivDst, int nIdxOff) Updates arrLfDerivDst with the instantaneous derivatives of the continuous-time component of the agent's state given its current state and sensor readings
double	getEpsilon() gets "epsilon" (floating point values "epsilon" apart are considered to be equal) Meaningful to numerical simulation, but meaningless to underlying system being modelled.
int	getNumStateVars() returns dimensionality of the state vector corresponding to one agent
double[]	getRotCenter() Use of getRotCenter is highly discouraged -- intend to deprecate
IControlFunc	makeCopy() clones this object (similar to "clone" supported by IClonable interface).
void	setEpsilon(double lfNewEpsilon) sets "epsilon" (floating point values "epsilon" apart are considered to be equal) Meaningful to numerical simulation, but meaningless to underlying system being modelled.
void	setRotCenter(double[] arrPtTowards) sets a new point to move towards, possibly re-assigning control function dimension (some care must be taken by programmer here)
void	setVel(double lfVel)

Methods inherited from class java.lang.Object

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

Constructor Detail

ControlFuncRotateAbout

public ControlFuncRotateAbout()

ControlFuncRotateAbout

public ControlFuncRotateAbout(ControlFuncRotateAbout src)

ControlFuncRotateAbout

public ControlFuncRotateAbout(double[] arrPtTowards,
                              double lfVel)

Method Detail

setEpsilon

public void setEpsilon(double lfNewEpsilon)

sets "epsilon" (floating point values "epsilon" apart are considered to be equal) Meaningful to numerical simulation, but meaningless to underlying system being modelled.

getEpsilon

public double getEpsilon()

gets "epsilon" (floating point values "epsilon" apart are considered to be equal) Meaningful to numerical simulation, but meaningless to underlying system being modelled.

setRotCenter

public void setRotCenter(double[] arrPtTowards)

sets a new point to move towards, possibly re-assigning control function dimension (some care must be taken by programmer here)

getRotCenter

public double[] getRotCenter()

Use of getRotCenter is highly discouraged -- intend to deprecate

setVel

public void setVel(double lfVel)

makeCopy

public IControlFunc makeCopy()

clones this object (similar to "clone" supported by IClonable interface).

Specified by:

makeCopy in interface IControlFunc

getDerivs

public void getDerivs(double lfCurrTime,
                      double[] arrLfStateSrc,
                      ISensor sensors,
                      IEnvironment env,
                      ILogicVarBundle logicVars,
                      double[] arrLfDerivDst,
                      int nIdxOff)

Updates arrLfDerivDst with the instantaneous derivatives of the continuous-time component of the agent's state given its current state and sensor readings

Specified by:

getDerivs in interface IControlFunc

Parameters:

lfCurrTime - current time (for time-varying systems)

arrLfStateSrc - vector of global state of the system

sensors - sensors

env - environment

logicVars - discrete components of agent internal state

arrLfDerivDst - Destination for storing derivative values.

nIdxOff - Offset index into the global state vector corresponding to the beginning of the parameters for this agent.

Since:

1.0

getNumStateVars

public int getNumStateVars()

returns dimensionality of the state vector corresponding to one agent

Specified by:

getNumStateVars in interface IControlFunc

Returns:

dimensionality of the state vector corresponding to one agent

directionConstantQ

public boolean directionConstantQ(double lfCurrTime,
                                  double[] arrLfStateSrc,
                                  ISensor sensors,
                                  IEnvironment env,
                                  ILogicVarBundle logicVars,
                                  int nIdxOffsetState)

Specified by:

directionConstantQ in interface IControlFunc