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

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Simulation Construction Set

There is a newer version: 0.25.2

package us.ihmc.simulationconstructionset;

import us.ihmc.simulationconstructionset.util.RobotController;
import us.ihmc.yoVariables.variable.YoInteger;

public class RobotControllerAndParameters
{
   protected final RobotController controller;
   protected final int simulationTicksPerControlTick;
   protected final YoInteger ticks_till_control;

   public RobotControllerAndParameters(RobotController controller, int simulationTicksPerControlTick)
   {
      this.controller = controller;
      this.simulationTicksPerControlTick = simulationTicksPerControlTick;
      ticks_till_control = new YoInteger("ticks_till_control_" + controller.getName(), controller.getYoRegistry());
      ticks_till_control.set(simulationTicksPerControlTick);
   }

   public RobotController getController()
   {
      return controller;
   }

   public int getSimulationTicksPerControlTick()
   {
      return simulationTicksPerControlTick;
   }
}