us.ihmc.simulationconstructionset.ExternalTorque Maven / Gradle / Ivy

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package us.ihmc.simulationconstructionset;

import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.yoVariables.euclid.referenceFrame.YoFrameVector3D;
import us.ihmc.yoVariables.registry.YoRegistry;
import us.ihmc.yoVariables.variable.YoDouble;

/**
 * Used to apply a torque to the point
 */
public class ExternalTorque implements java.io.Serializable
{
   private static final long serialVersionUID = 3783457908524107434L;

   // torque in inertial frame
   private final YoFrameVector3D torque;
   public YoDouble x, y, z;

   protected final String name;
   protected Joint parentJoint;

   public boolean active;

   public ExternalTorque(String name, YoRegistry registry)
   {
      this.name = name;
      torque = new YoFrameVector3D(name + "_t", "", ReferenceFrame.getWorldFrame(), registry);

      x = torque.getYoX();
      y = torque.getYoY();
      z = torque.getYoZ();
   }

   public void reset()
   {
      active = false;
      torque.set(0, 0, 0);
   }

   public boolean isActive()
   {
      return active;
   }

   public void setActive(boolean active)
   {
      this.active = active;
   }

   public Joint getParentJoint()
   {
      return parentJoint;
   }

   public void setParentJoint(Joint parentJoint)
   {
      this.parentJoint = parentJoint;
   }

   public YoFrameVector3D getYoTorque()
   {
      return torque;
   }

   public double getTorqueX()
   {
      return x.getDoubleValue();
   }

   public double getTorqueY()
   {
      return y.getDoubleValue();
   }

   public double getTorqueZ()
   {
      return z.getDoubleValue();
   }

}