/**
*/
package org.eclipse.papyrus.RobotML.impl;
import org.eclipse.emf.common.notify.Notification;
import org.eclipse.emf.ecore.EClass;
import org.eclipse.emf.ecore.impl.ENotificationImpl;
import org.eclipse.papyrus.RobotML.RobotMLPackage;
import org.eclipse.papyrus.RobotML.WheelSystem;
// TODO: Auto-generated Javadoc
/**
* <!-- begin-user-doc -->
* An implementation of the model object '<em><b>Wheel System</b></em>'.
* <!-- end-user-doc -->
* <p>
* The following features are implemented:
* <ul>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelRadius <em>Wheel Radius</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelWidth <em>Wheel Width</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getSuspensionRestLength <em>Suspension Rest Length</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelConnectionHeight <em>Wheel Connection Height</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getTypeOfWheel <em>Type Of Wheel</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelVelocityPIDkp <em>Wheel Velocity PI Dkp</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelVelocityPIDki <em>Wheel Velocity PI Dki</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelVelocityPIDkd <em>Wheel Velocity PI Dkd</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelSteeringPIDkp <em>Wheel Steering PI Dkp</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelSteeringPIDkd <em>Wheel Steering PI Dkd</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelFriction <em>Wheel Friction</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getSuspensionStiffness <em>Suspension Stiffness</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getSuspensionDamping <em>Suspension Damping</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getSuspensionCompression <em>Suspension Compression</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelVelocityPIDmaxSum <em>Wheel Velocity PI Dmax Sum</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.impl.WheelSystemImpl#getWheelVelocityPIDmaxVal <em>Wheel Velocity PI Dmax Val</em>}</li>
* </ul>
* </p>
*
* @generated
*/
public class WheelSystemImpl extends ActuatorSystemImpl implements WheelSystem {
/**
* The default value of the '{@link #getWheelRadius() <em>Wheel Radius</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelRadius()
* @generated
* @ordered
*/
protected static final float WHEEL_RADIUS_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getWheelRadius() <em>Wheel Radius</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelRadius()
* @generated
* @ordered
*/
protected float wheelRadius = WHEEL_RADIUS_EDEFAULT;
/**
* The default value of the '{@link #getWheelWidth() <em>Wheel Width</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelWidth()
* @generated
* @ordered
*/
protected static final float WHEEL_WIDTH_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getWheelWidth() <em>Wheel Width</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelWidth()
* @generated
* @ordered
*/
protected float wheelWidth = WHEEL_WIDTH_EDEFAULT;
/**
* The default value of the '{@link #getSuspensionRestLength() <em>Suspension Rest Length</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getSuspensionRestLength()
* @generated
* @ordered
*/
protected static final float SUSPENSION_REST_LENGTH_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getSuspensionRestLength() <em>Suspension Rest Length</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getSuspensionRestLength()
* @generated
* @ordered
*/
protected float suspensionRestLength = SUSPENSION_REST_LENGTH_EDEFAULT;
/**
* The default value of the '{@link #getWheelConnectionHeight() <em>Wheel Connection Height</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelConnectionHeight()
* @generated
* @ordered
*/
protected static final float WHEEL_CONNECTION_HEIGHT_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getWheelConnectionHeight() <em>Wheel Connection Height</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelConnectionHeight()
* @generated
* @ordered
*/
protected float wheelConnectionHeight = WHEEL_CONNECTION_HEIGHT_EDEFAULT;
/**
* The default value of the '{@link #getTypeOfWheel() <em>Type Of Wheel</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getTypeOfWheel()
* @generated
* @ordered
*/
protected static final String TYPE_OF_WHEEL_EDEFAULT = null;
/**
* The cached value of the '{@link #getTypeOfWheel() <em>Type Of Wheel</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getTypeOfWheel()
* @generated
* @ordered
*/
protected String typeOfWheel = TYPE_OF_WHEEL_EDEFAULT;
/**
* The default value of the '{@link #getWheelVelocityPIDkp() <em>Wheel Velocity PI Dkp</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelVelocityPIDkp()
* @generated
* @ordered
*/
protected static final float WHEEL_VELOCITY_PI_DKP_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getWheelVelocityPIDkp() <em>Wheel Velocity PI Dkp</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelVelocityPIDkp()
* @generated
* @ordered
*/
protected float wheelVelocityPIDkp = WHEEL_VELOCITY_PI_DKP_EDEFAULT;
/**
* The default value of the '{@link #getWheelVelocityPIDki() <em>Wheel Velocity PI Dki</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelVelocityPIDki()
* @generated
* @ordered
*/
protected static final float WHEEL_VELOCITY_PI_DKI_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getWheelVelocityPIDki() <em>Wheel Velocity PI Dki</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelVelocityPIDki()
* @generated
* @ordered
*/
protected float wheelVelocityPIDki = WHEEL_VELOCITY_PI_DKI_EDEFAULT;
/**
* The default value of the '{@link #getWheelVelocityPIDkd() <em>Wheel Velocity PI Dkd</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelVelocityPIDkd()
* @generated
* @ordered
*/
protected static final float WHEEL_VELOCITY_PI_DKD_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getWheelVelocityPIDkd() <em>Wheel Velocity PI Dkd</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelVelocityPIDkd()
* @generated
* @ordered
*/
protected float wheelVelocityPIDkd = WHEEL_VELOCITY_PI_DKD_EDEFAULT;
/**
* The default value of the '{@link #getWheelSteeringPIDkp() <em>Wheel Steering PI Dkp</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelSteeringPIDkp()
* @generated
* @ordered
*/
protected static final float WHEEL_STEERING_PI_DKP_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getWheelSteeringPIDkp() <em>Wheel Steering PI Dkp</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelSteeringPIDkp()
* @generated
* @ordered
*/
protected float wheelSteeringPIDkp = WHEEL_STEERING_PI_DKP_EDEFAULT;
/**
* The default value of the '{@link #getWheelSteeringPIDkd() <em>Wheel Steering PI Dkd</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelSteeringPIDkd()
* @generated
* @ordered
*/
protected static final float WHEEL_STEERING_PI_DKD_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getWheelSteeringPIDkd() <em>Wheel Steering PI Dkd</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelSteeringPIDkd()
* @generated
* @ordered
*/
protected float wheelSteeringPIDkd = WHEEL_STEERING_PI_DKD_EDEFAULT;
/**
* The default value of the '{@link #getWheelFriction() <em>Wheel Friction</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelFriction()
* @generated
* @ordered
*/
protected static final float WHEEL_FRICTION_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getWheelFriction() <em>Wheel Friction</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelFriction()
* @generated
* @ordered
*/
protected float wheelFriction = WHEEL_FRICTION_EDEFAULT;
/**
* The default value of the '{@link #getSuspensionStiffness() <em>Suspension Stiffness</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getSuspensionStiffness()
* @generated
* @ordered
*/
protected static final float SUSPENSION_STIFFNESS_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getSuspensionStiffness() <em>Suspension Stiffness</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getSuspensionStiffness()
* @generated
* @ordered
*/
protected float suspensionStiffness = SUSPENSION_STIFFNESS_EDEFAULT;
/**
* The default value of the '{@link #getSuspensionDamping() <em>Suspension Damping</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getSuspensionDamping()
* @generated
* @ordered
*/
protected static final float SUSPENSION_DAMPING_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getSuspensionDamping() <em>Suspension Damping</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getSuspensionDamping()
* @generated
* @ordered
*/
protected float suspensionDamping = SUSPENSION_DAMPING_EDEFAULT;
/**
* The default value of the '{@link #getSuspensionCompression() <em>Suspension Compression</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getSuspensionCompression()
* @generated
* @ordered
*/
protected static final float SUSPENSION_COMPRESSION_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getSuspensionCompression() <em>Suspension Compression</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getSuspensionCompression()
* @generated
* @ordered
*/
protected float suspensionCompression = SUSPENSION_COMPRESSION_EDEFAULT;
/**
* The default value of the '{@link #getWheelVelocityPIDmaxSum() <em>Wheel Velocity PI Dmax Sum</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelVelocityPIDmaxSum()
* @generated
* @ordered
*/
protected static final float WHEEL_VELOCITY_PI_DMAX_SUM_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getWheelVelocityPIDmaxSum() <em>Wheel Velocity PI Dmax Sum</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelVelocityPIDmaxSum()
* @generated
* @ordered
*/
protected float wheelVelocityPIDmaxSum = WHEEL_VELOCITY_PI_DMAX_SUM_EDEFAULT;
/**
* The default value of the '{@link #getWheelVelocityPIDmaxVal() <em>Wheel Velocity PI Dmax Val</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelVelocityPIDmaxVal()
* @generated
* @ordered
*/
protected static final float WHEEL_VELOCITY_PI_DMAX_VAL_EDEFAULT = 0.0F;
/**
* The cached value of the '{@link #getWheelVelocityPIDmaxVal() <em>Wheel Velocity PI Dmax Val</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
* @see #getWheelVelocityPIDmaxVal()
* @generated
* @ordered
*/
protected float wheelVelocityPIDmaxVal = WHEEL_VELOCITY_PI_DMAX_VAL_EDEFAULT;
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @generated
*/
protected WheelSystemImpl() {
super();
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the e class
* @generated
*/
@Override
protected EClass eStaticClass() {
return RobotMLPackage.Literals.WHEEL_SYSTEM;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the wheel radius
* @generated
*/
public float getWheelRadius() {
return wheelRadius;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newWheelRadius the new wheel radius
* @generated
*/
public void setWheelRadius(float newWheelRadius) {
float oldWheelRadius = wheelRadius;
wheelRadius = newWheelRadius;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_RADIUS, oldWheelRadius, wheelRadius));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the wheel width
* @generated
*/
public float getWheelWidth() {
return wheelWidth;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newWheelWidth the new wheel width
* @generated
*/
public void setWheelWidth(float newWheelWidth) {
float oldWheelWidth = wheelWidth;
wheelWidth = newWheelWidth;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_WIDTH, oldWheelWidth, wheelWidth));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the suspension rest length
* @generated
*/
public float getSuspensionRestLength() {
return suspensionRestLength;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newSuspensionRestLength the new suspension rest length
* @generated
*/
public void setSuspensionRestLength(float newSuspensionRestLength) {
float oldSuspensionRestLength = suspensionRestLength;
suspensionRestLength = newSuspensionRestLength;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_REST_LENGTH, oldSuspensionRestLength, suspensionRestLength));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the wheel connection height
* @generated
*/
public float getWheelConnectionHeight() {
return wheelConnectionHeight;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newWheelConnectionHeight the new wheel connection height
* @generated
*/
public void setWheelConnectionHeight(float newWheelConnectionHeight) {
float oldWheelConnectionHeight = wheelConnectionHeight;
wheelConnectionHeight = newWheelConnectionHeight;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT, oldWheelConnectionHeight, wheelConnectionHeight));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the type of wheel
* @generated
*/
public String getTypeOfWheel() {
return typeOfWheel;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newTypeOfWheel the new type of wheel
* @generated
*/
public void setTypeOfWheel(String newTypeOfWheel) {
String oldTypeOfWheel = typeOfWheel;
typeOfWheel = newTypeOfWheel;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__TYPE_OF_WHEEL, oldTypeOfWheel, typeOfWheel));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the wheel velocity pi dkp
* @generated
*/
public float getWheelVelocityPIDkp() {
return wheelVelocityPIDkp;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newWheelVelocityPIDkp the new wheel velocity pi dkp
* @generated
*/
public void setWheelVelocityPIDkp(float newWheelVelocityPIDkp) {
float oldWheelVelocityPIDkp = wheelVelocityPIDkp;
wheelVelocityPIDkp = newWheelVelocityPIDkp;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP, oldWheelVelocityPIDkp, wheelVelocityPIDkp));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the wheel velocity pi dki
* @generated
*/
public float getWheelVelocityPIDki() {
return wheelVelocityPIDki;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newWheelVelocityPIDki the new wheel velocity pi dki
* @generated
*/
public void setWheelVelocityPIDki(float newWheelVelocityPIDki) {
float oldWheelVelocityPIDki = wheelVelocityPIDki;
wheelVelocityPIDki = newWheelVelocityPIDki;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI, oldWheelVelocityPIDki, wheelVelocityPIDki));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the wheel velocity pi dkd
* @generated
*/
public float getWheelVelocityPIDkd() {
return wheelVelocityPIDkd;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newWheelVelocityPIDkd the new wheel velocity pi dkd
* @generated
*/
public void setWheelVelocityPIDkd(float newWheelVelocityPIDkd) {
float oldWheelVelocityPIDkd = wheelVelocityPIDkd;
wheelVelocityPIDkd = newWheelVelocityPIDkd;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD, oldWheelVelocityPIDkd, wheelVelocityPIDkd));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the wheel steering pi dkp
* @generated
*/
public float getWheelSteeringPIDkp() {
return wheelSteeringPIDkp;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newWheelSteeringPIDkp the new wheel steering pi dkp
* @generated
*/
public void setWheelSteeringPIDkp(float newWheelSteeringPIDkp) {
float oldWheelSteeringPIDkp = wheelSteeringPIDkp;
wheelSteeringPIDkp = newWheelSteeringPIDkp;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP, oldWheelSteeringPIDkp, wheelSteeringPIDkp));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the wheel steering pi dkd
* @generated
*/
public float getWheelSteeringPIDkd() {
return wheelSteeringPIDkd;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newWheelSteeringPIDkd the new wheel steering pi dkd
* @generated
*/
public void setWheelSteeringPIDkd(float newWheelSteeringPIDkd) {
float oldWheelSteeringPIDkd = wheelSteeringPIDkd;
wheelSteeringPIDkd = newWheelSteeringPIDkd;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD, oldWheelSteeringPIDkd, wheelSteeringPIDkd));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the wheel friction
* @generated
*/
public float getWheelFriction() {
return wheelFriction;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newWheelFriction the new wheel friction
* @generated
*/
public void setWheelFriction(float newWheelFriction) {
float oldWheelFriction = wheelFriction;
wheelFriction = newWheelFriction;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_FRICTION, oldWheelFriction, wheelFriction));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the suspension stiffness
* @generated
*/
public float getSuspensionStiffness() {
return suspensionStiffness;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newSuspensionStiffness the new suspension stiffness
* @generated
*/
public void setSuspensionStiffness(float newSuspensionStiffness) {
float oldSuspensionStiffness = suspensionStiffness;
suspensionStiffness = newSuspensionStiffness;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_STIFFNESS, oldSuspensionStiffness, suspensionStiffness));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the suspension damping
* @generated
*/
public float getSuspensionDamping() {
return suspensionDamping;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newSuspensionDamping the new suspension damping
* @generated
*/
public void setSuspensionDamping(float newSuspensionDamping) {
float oldSuspensionDamping = suspensionDamping;
suspensionDamping = newSuspensionDamping;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_DAMPING, oldSuspensionDamping, suspensionDamping));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the suspension compression
* @generated
*/
public float getSuspensionCompression() {
return suspensionCompression;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newSuspensionCompression the new suspension compression
* @generated
*/
public void setSuspensionCompression(float newSuspensionCompression) {
float oldSuspensionCompression = suspensionCompression;
suspensionCompression = newSuspensionCompression;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_COMPRESSION, oldSuspensionCompression, suspensionCompression));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the wheel velocity pi dmax sum
* @generated
*/
public float getWheelVelocityPIDmaxSum() {
return wheelVelocityPIDmaxSum;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newWheelVelocityPIDmaxSum the new wheel velocity pi dmax sum
* @generated
*/
public void setWheelVelocityPIDmaxSum(float newWheelVelocityPIDmaxSum) {
float oldWheelVelocityPIDmaxSum = wheelVelocityPIDmaxSum;
wheelVelocityPIDmaxSum = newWheelVelocityPIDmaxSum;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM, oldWheelVelocityPIDmaxSum, wheelVelocityPIDmaxSum));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the wheel velocity pi dmax val
* @generated
*/
public float getWheelVelocityPIDmaxVal() {
return wheelVelocityPIDmaxVal;
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param newWheelVelocityPIDmaxVal the new wheel velocity pi dmax val
* @generated
*/
public void setWheelVelocityPIDmaxVal(float newWheelVelocityPIDmaxVal) {
float oldWheelVelocityPIDmaxVal = wheelVelocityPIDmaxVal;
wheelVelocityPIDmaxVal = newWheelVelocityPIDmaxVal;
if (eNotificationRequired())
eNotify(new ENotificationImpl(this, Notification.SET, RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL, oldWheelVelocityPIDmaxVal, wheelVelocityPIDmaxVal));
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param featureID the feature id
* @param resolve the resolve
* @param coreType the core type
* @return the object
* @generated
*/
@Override
public Object eGet(int featureID, boolean resolve, boolean coreType) {
switch (featureID) {
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_RADIUS:
return getWheelRadius();
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_WIDTH:
return getWheelWidth();
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_REST_LENGTH:
return getSuspensionRestLength();
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT:
return getWheelConnectionHeight();
case RobotMLPackage.WHEEL_SYSTEM__TYPE_OF_WHEEL:
return getTypeOfWheel();
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP:
return getWheelVelocityPIDkp();
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI:
return getWheelVelocityPIDki();
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD:
return getWheelVelocityPIDkd();
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP:
return getWheelSteeringPIDkp();
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD:
return getWheelSteeringPIDkd();
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_FRICTION:
return getWheelFriction();
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_STIFFNESS:
return getSuspensionStiffness();
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_DAMPING:
return getSuspensionDamping();
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_COMPRESSION:
return getSuspensionCompression();
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM:
return getWheelVelocityPIDmaxSum();
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL:
return getWheelVelocityPIDmaxVal();
}
return super.eGet(featureID, resolve, coreType);
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param featureID the feature id
* @param newValue the new value
* @generated
*/
@Override
public void eSet(int featureID, Object newValue) {
switch (featureID) {
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_RADIUS:
setWheelRadius((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_WIDTH:
setWheelWidth((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_REST_LENGTH:
setSuspensionRestLength((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT:
setWheelConnectionHeight((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__TYPE_OF_WHEEL:
setTypeOfWheel((String)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP:
setWheelVelocityPIDkp((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI:
setWheelVelocityPIDki((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD:
setWheelVelocityPIDkd((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP:
setWheelSteeringPIDkp((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD:
setWheelSteeringPIDkd((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_FRICTION:
setWheelFriction((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_STIFFNESS:
setSuspensionStiffness((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_DAMPING:
setSuspensionDamping((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_COMPRESSION:
setSuspensionCompression((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM:
setWheelVelocityPIDmaxSum((Float)newValue);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL:
setWheelVelocityPIDmaxVal((Float)newValue);
return;
}
super.eSet(featureID, newValue);
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param featureID the feature id
* @generated
*/
@Override
public void eUnset(int featureID) {
switch (featureID) {
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_RADIUS:
setWheelRadius(WHEEL_RADIUS_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_WIDTH:
setWheelWidth(WHEEL_WIDTH_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_REST_LENGTH:
setSuspensionRestLength(SUSPENSION_REST_LENGTH_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT:
setWheelConnectionHeight(WHEEL_CONNECTION_HEIGHT_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__TYPE_OF_WHEEL:
setTypeOfWheel(TYPE_OF_WHEEL_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP:
setWheelVelocityPIDkp(WHEEL_VELOCITY_PI_DKP_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI:
setWheelVelocityPIDki(WHEEL_VELOCITY_PI_DKI_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD:
setWheelVelocityPIDkd(WHEEL_VELOCITY_PI_DKD_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP:
setWheelSteeringPIDkp(WHEEL_STEERING_PI_DKP_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD:
setWheelSteeringPIDkd(WHEEL_STEERING_PI_DKD_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_FRICTION:
setWheelFriction(WHEEL_FRICTION_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_STIFFNESS:
setSuspensionStiffness(SUSPENSION_STIFFNESS_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_DAMPING:
setSuspensionDamping(SUSPENSION_DAMPING_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_COMPRESSION:
setSuspensionCompression(SUSPENSION_COMPRESSION_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM:
setWheelVelocityPIDmaxSum(WHEEL_VELOCITY_PI_DMAX_SUM_EDEFAULT);
return;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL:
setWheelVelocityPIDmaxVal(WHEEL_VELOCITY_PI_DMAX_VAL_EDEFAULT);
return;
}
super.eUnset(featureID);
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @param featureID the feature id
* @return true, if successful
* @generated
*/
@Override
public boolean eIsSet(int featureID) {
switch (featureID) {
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_RADIUS:
return wheelRadius != WHEEL_RADIUS_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_WIDTH:
return wheelWidth != WHEEL_WIDTH_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_REST_LENGTH:
return suspensionRestLength != SUSPENSION_REST_LENGTH_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_CONNECTION_HEIGHT:
return wheelConnectionHeight != WHEEL_CONNECTION_HEIGHT_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__TYPE_OF_WHEEL:
return TYPE_OF_WHEEL_EDEFAULT == null ? typeOfWheel != null : !TYPE_OF_WHEEL_EDEFAULT.equals(typeOfWheel);
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKP:
return wheelVelocityPIDkp != WHEEL_VELOCITY_PI_DKP_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKI:
return wheelVelocityPIDki != WHEEL_VELOCITY_PI_DKI_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DKD:
return wheelVelocityPIDkd != WHEEL_VELOCITY_PI_DKD_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKP:
return wheelSteeringPIDkp != WHEEL_STEERING_PI_DKP_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_STEERING_PI_DKD:
return wheelSteeringPIDkd != WHEEL_STEERING_PI_DKD_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_FRICTION:
return wheelFriction != WHEEL_FRICTION_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_STIFFNESS:
return suspensionStiffness != SUSPENSION_STIFFNESS_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_DAMPING:
return suspensionDamping != SUSPENSION_DAMPING_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__SUSPENSION_COMPRESSION:
return suspensionCompression != SUSPENSION_COMPRESSION_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_SUM:
return wheelVelocityPIDmaxSum != WHEEL_VELOCITY_PI_DMAX_SUM_EDEFAULT;
case RobotMLPackage.WHEEL_SYSTEM__WHEEL_VELOCITY_PI_DMAX_VAL:
return wheelVelocityPIDmaxVal != WHEEL_VELOCITY_PI_DMAX_VAL_EDEFAULT;
}
return super.eIsSet(featureID);
}
/**
* <!-- begin-user-doc -->
* <!-- end-user-doc -->.
*
* @return the string
* @generated
*/
@Override
public String toString() {
if (eIsProxy()) return super.toString();
StringBuffer result = new StringBuffer(super.toString());
result.append(" (wheelRadius: ");
result.append(wheelRadius);
result.append(", wheelWidth: ");
result.append(wheelWidth);
result.append(", suspensionRestLength: ");
result.append(suspensionRestLength);
result.append(", wheelConnectionHeight: ");
result.append(wheelConnectionHeight);
result.append(", typeOfWheel: ");
result.append(typeOfWheel);
result.append(", wheelVelocityPIDkp: ");
result.append(wheelVelocityPIDkp);
result.append(", wheelVelocityPIDki: ");
result.append(wheelVelocityPIDki);
result.append(", wheelVelocityPIDkd: ");
result.append(wheelVelocityPIDkd);
result.append(", wheelSteeringPIDkp: ");
result.append(wheelSteeringPIDkp);
result.append(", wheelSteeringPIDkd: ");
result.append(wheelSteeringPIDkd);
result.append(", wheelFriction: ");
result.append(wheelFriction);
result.append(", suspensionStiffness: ");
result.append(suspensionStiffness);
result.append(", suspensionDamping: ");
result.append(suspensionDamping);
result.append(", suspensionCompression: ");
result.append(suspensionCompression);
result.append(", wheelVelocityPIDmaxSum: ");
result.append(wheelVelocityPIDmaxSum);
result.append(", wheelVelocityPIDmaxVal: ");
result.append(wheelVelocityPIDmaxVal);
result.append(')');
return result.toString();
}
} //WheelSystemImpl
