@Override public String getDescription() { return getName(); }
@Override public void initialize() { PrintTools.debug(this, "CutforceSimulator initialized"); doControl(); }
@Override public void doControl() { wristJoint.getTransformToWorld(transform); wristJointPose.setPose(transform); yoWristJointPose.set(wristJointPose); wristJoint.getTransformToWorld(transform); transform.transform(wristToHandControlFrame, tangentVector); handControlFramePose.setPose(transform); handControlFramePose.translate(tangentVector); yoHandControlFramePose.set(handControlFramePose); handControlFramePose.getPosition(handControlFramePositionInWorld); efpHandControlFrame.setPosition(handControlFramePositionInWorld); // efpGravity.setForce(0.0, 0.0, -gGRAVITY * MASSDRILL); // efpGravity.setForce(0.0, 0.0, 0.0); // efpWrist.setForce(exponentialCutForceModel(efpHandControlFrame)); efpWrist.setForce(quadraticCutForceModel(efpHandControlFrame)); }
@Override public void initialize() { PrintTools.debug(this, "CutforceSimulator initialized"); doControl(); }
@Override public void doControl() { wristJoint.getTransformToWorld(transform); wristJointPose.set(transform); yoWristJointPose.set(wristJointPose); wristJoint.getTransformToWorld(transform); transform.transform(wristToHandControlFrame, tangentVector); handControlFramePose.set(transform); handControlFramePose.prependTranslation(tangentVector); yoHandControlFramePose.set(handControlFramePose); handControlFramePositionInWorld.set(handControlFramePose.getPosition()); efpHandControlFrame.setPosition(handControlFramePositionInWorld); // efpGravity.setForce(0.0, 0.0, -gGRAVITY * MASSDRILL); // efpGravity.setForce(0.0, 0.0, 0.0); // efpWrist.setForce(exponentialCutForceModel(efpHandControlFrame)); efpWrist.setForce(quadraticCutForceModel(efpHandControlFrame)); }
@Override public String getDescription() { return getName(); }