InvertedPendulum

Class Pendulum

java.lang.Object

InvertedPendulum.Pendulum

public class Pendulum
extends java.lang.Object

The class Pendulum is a simulation of a pendulum. This simulation considers the force which is imposed on the slide, the gravity, the centrifugal force and the feedback of the pendulum

Author:

Thomas Dittrich

Constructor Summary

Constructors

Constructor and Description
Pendulum(double timestepinsec, boolean enableVisualization) Create a pendulum

Method Summary

Methods

Modifier and Type	Method and Description
double	getPhi() returns the angle of the pendulum. 0 ......
double	getPosition() returns the x position of the slide
javax.swing.JPanel	getVisualization() Returns the visualization of the pendulum (only if the visualization has been enabled in the constuctor)
double	getVp() returns the tangential velocity of the pendulum-mass
double	getVs() returns the x velocity of the slide
void	movePendulum(double forceX) does one simulation-step

Methods inherited from class java.lang.Object

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

Constructor Detail

Pendulum

public Pendulum(double timestepinsec,
        boolean enableVisualization)

Create a pendulum

Parameters:

timestepinsec - time between two simulation-steps

enableVisualization - defines if the simulation is done with or without visualization

Method Detail

getPosition

public double getPosition()

returns the x position of the slide

Returns:

getVs

public double getVs()

returns the x velocity of the slide

Returns:

getPhi

public double getPhi()

returns the angle of the pendulum.
0 ...... pendulum is to the right of the slide
90 .... pendulum is above of the slide
180 .. pendulum is to the left of the slide
270 .. pendulum is beneath the slide

Returns:

getVp

public double getVp()

returns the tangential velocity of the pendulum-mass

Returns:

getVisualization

public javax.swing.JPanel getVisualization()

Returns the visualization of the pendulum (only if the visualization has been enabled in the constuctor)

Returns:

JPanel which does the visualization (null if the visualization has not been enabled)

movePendulum

public void movePendulum(double forceX)

does one simulation-step

Parameters:

forceX - the strength that moves the slide