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SIG_Environment.cpp

00001 #include "SIGEL_Environment/SIG_Environment.h"
00002 
00003 namespace SIGEL_Environment {
00004 
00005   SIG_Environment::SIG_Environment()
00006     : gravity(0,-9.81,0), 
00007     yPlaneLevel(0),
00008     veloDamping(0.995),
00009     startPosition(0,1,0),
00010     floorMaterialName("floor"),
00011     groundPlanarSpringConstant(5500),
00012     groundNormalSpringConstant(7500),
00013     groundPlanarDamperConstant(50),
00014     groundNormalDamperConstant(50),
00015     frictionCoeff_u_s(1.5),
00016     frictionCoeff_u_k(1)
00017   {
00018 
00019   };
00020 
00021   SIG_Environment::SIG_Environment(DL_vector newGravity, double newYPlaneLevel, 
00022                                    double newVeloDamping, DL_vector newStartPosition, 
00023                                    QString newFloorMaterialName, double newGroundPlanarSpringConstant, 
00024                                    double newGroundNormalSpringConstant, double newGroundPlanarDamperConstant, 
00025                                    double newGroundNormalDamperConstant, double newFrictionCoeff_u_s, 
00026                                    double newFrictionCoeff_u_k)
00027     : gravity(newGravity),
00028       yPlaneLevel(newYPlaneLevel),
00029       veloDamping(newVeloDamping),
00030       startPosition(newStartPosition),
00031       floorMaterialName(newFloorMaterialName),
00032       groundPlanarSpringConstant(newGroundPlanarSpringConstant),
00033       groundNormalSpringConstant(newGroundNormalSpringConstant),
00034       groundPlanarDamperConstant(newGroundPlanarDamperConstant),
00035       groundNormalDamperConstant(newGroundNormalDamperConstant),
00036       frictionCoeff_u_s(newFrictionCoeff_u_s),
00037       frictionCoeff_u_k(newFrictionCoeff_u_k)
00038   {
00039 
00040   };
00041 
00042   void SIG_Environment::readFromFile(QTextStream& file)
00043   {
00044     QString s;
00045     s=file.readLine();  //YPLANELEVEL
00046     s=file.readLine();
00047     yPlaneLevel=s.toDouble();
00048     s=file.readLine();  //VELODAMPING
00049     s=file.readLine();
00050     veloDamping=s.toDouble();
00051     s=file.readLine();  //GRAVITY
00052     s=file.readLine();
00053     gravity.x=s.toDouble();
00054     s=file.readLine();
00055     gravity.y=s.toDouble();
00056     s=file.readLine();
00057     gravity.z=s.toDouble();
00058     s=file.readLine();  //STARTPOSITION
00059     s=file.readLine();
00060     startPosition.x=s.toDouble();
00061     s=file.readLine();
00062     startPosition.y=s.toDouble();
00063     s=file.readLine();
00064     startPosition.z=s.toDouble();
00065     s=file.readLine();  //FLOORMATERIALNAME
00066     floorMaterialName=file.readLine();
00067     s=file.readLine();  //GPSconst
00068     s=file.readLine();
00069     groundPlanarSpringConstant=s.toDouble();
00070     s=file.readLine();  //GNSconst
00071     s=file.readLine();
00072     groundNormalSpringConstant=s.toDouble();
00073     s=file.readLine();  //GPDconst
00074     s=file.readLine();
00075     groundPlanarDamperConstant=s.toDouble();
00076     s=file.readLine();  //GNDconst
00077     s=file.readLine();
00078     groundNormalDamperConstant=s.toDouble();
00079     s=file.readLine();  //USFcoeff
00080     s=file.readLine();
00081     frictionCoeff_u_s=s.toDouble();
00082     s=file.readLine();  //UKFcoeff
00083     s=file.readLine();
00084     frictionCoeff_u_k=s.toDouble();
00085   };
00086   
00087   SIG_Environment::SIG_Environment(QTextStream& file)
00088   {
00089     readFromFile(file);
00090   };
00091   void SIG_Environment::writeToFile(QTextStream& file)
00092   {
00093     file << "YPLANELEVEL\n";
00094     file << yPlaneLevel << "\n";
00095     file << "VELODAMPING\n";
00096     file << veloDamping << "\n";
00097     file << "GRAVITY\n";
00098     file << gravity.x << "\n";
00099     file << gravity.y << "\n";
00100     file << gravity.z << "\n";
00101     file << "STARTPOSITION\n";
00102     file << startPosition.x << "\n";
00103     file << startPosition.y << "\n";
00104     file << startPosition.z << "\n";
00105     file << "FLOORMATERIALNAME\n";
00106     file << floorMaterialName << "\n";
00107 
00108     file << "GPSconst\n";
00109     file << groundPlanarSpringConstant << "\n";
00110     file << "GNSconst\n";
00111     file << groundNormalSpringConstant << "\n";
00112     file << "GPDconst\n";
00113     file << groundPlanarDamperConstant << "\n";
00114     file << "GNDconst\n";
00115     file << groundNormalDamperConstant << "\n";
00116     file << "USFcoeff\n";
00117     file << frictionCoeff_u_s << "\n";
00118     file << "UKFcoeff\n";
00119     file << frictionCoeff_u_k << "\n";
00120   };
00121   void SIG_Environment::setGravity(DL_vector newGravity)
00122   {
00123     gravity=newGravity;
00124   };
00125   DL_vector SIG_Environment::getGravity() const
00126   {
00127     return gravity;
00128   };
00129   void SIG_Environment::setYPlaneLevel(double newYPlaneLevel)
00130   {
00131     yPlaneLevel=newYPlaneLevel;
00132   };
00133   double SIG_Environment::getYPlaneLevel() const
00134   {
00135     return yPlaneLevel;
00136   };
00137   void SIG_Environment::setVeloDamping(double newVeloDamping)
00138   {
00139     veloDamping=newVeloDamping;
00140   };
00141   double SIG_Environment::getVeloDamping() const
00142   {
00143     return veloDamping;
00144   };
00145   void SIG_Environment::setStartPosition(DL_vector newStartPosition)
00146   {
00147     startPosition=newStartPosition;
00148   };
00149   DL_vector SIG_Environment::getStartPosition() const
00150   {
00151     return startPosition;
00152   };
00153   void SIG_Environment::setFloorMaterialName(QString newFloorMaterialName)
00154   {
00155     floorMaterialName=newFloorMaterialName;
00156   };
00157   QString SIG_Environment::getFloorMaterialName() const
00158   {
00159     return floorMaterialName;
00160   };
00161 
00162   void SIG_Environment::setGroundPlanarSpringConstant(double newGroundPlanarSpringConstant) 
00163   {
00164     groundPlanarSpringConstant=newGroundPlanarSpringConstant;
00165   };
00166 
00167   double SIG_Environment::getGroundPlanarSpringConstant() const 
00168   {
00169     return groundPlanarSpringConstant;
00170   };
00171 
00172   void SIG_Environment::setGroundNormalSpringConstant(double newGroundNormalSpringConstant) 
00173   {
00174     groundNormalSpringConstant=newGroundNormalSpringConstant;
00175   };
00176 
00177   double SIG_Environment::getGroundNormalSpringConstant() const 
00178   {
00179     return groundNormalSpringConstant;
00180   };
00181 
00182   void SIG_Environment::setGroundPlanarDamperConstant(double newGroundPlanarDamperConstant) 
00183   {
00184     groundPlanarDamperConstant=newGroundPlanarDamperConstant;
00185   };
00186 
00187   double SIG_Environment::getGroundPlanarDamperConstant() const 
00188   {
00189     return groundPlanarDamperConstant;
00190   };
00191 
00192   void SIG_Environment::setGroundNormalDamperConstant(double newGroundNormalDamperConstant) 
00193   {
00194     groundNormalDamperConstant=newGroundNormalDamperConstant;
00195   };
00196 
00197   double SIG_Environment::getGroundNormalDamperConstant() const 
00198   {
00199     return groundNormalDamperConstant;
00200   };
00201 
00202   void SIG_Environment::setFrictionCoeff_u_s(double newFrictionCoeff_u_s) 
00203   {
00204     frictionCoeff_u_s=newFrictionCoeff_u_s;
00205   };
00206 
00207   double SIG_Environment::getFrictionCoeff_u_s() const 
00208   {
00209     return frictionCoeff_u_s;
00210   };
00211 
00212   void SIG_Environment::setFrictionCoeff_u_k(double newFrictionCoeff_u_k) 
00213   {
00214     frictionCoeff_u_k=newFrictionCoeff_u_k;
00215   };
00216 
00217   double SIG_Environment::getFrictionCoeff_u_k() const 
00218   {
00219     return frictionCoeff_u_k;
00220   };
00221 }
00222 
00223 
00224 

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