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|
/**
*/
package org.eclipse.papyrus.RobotML;
/**
* <!-- begin-user-doc -->
* A representation of the model object '<em><b>Steered Wheel System</b></em>'.
* <!-- end-user-doc -->
*
* <p>
* The following features are supported:
* <ul>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelRadius <em>Wheel Radius</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelWidth <em>Wheel Width</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getSuspensionRestLength <em>Suspension Rest Length</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelConnectionHeight <em>Wheel Connection Height</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getTypeOfWheel <em>Type Of Wheel</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelVelocityPIDkp <em>Wheel Velocity PI Dkp</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelVelocityPIDki <em>Wheel Velocity PI Dki</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelVelocityPIDkd <em>Wheel Velocity PI Dkd</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelSteeringPIDkp <em>Wheel Steering PI Dkp</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelSteeringPIDkd <em>Wheel Steering PI Dkd</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelFriction <em>Wheel Friction</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getSuspensionStiffness <em>Suspension Stiffness</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getSuspensionDamping <em>Suspension Damping</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getSuspensionCompression <em>Suspension Compression</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelVelocityPIDmaxSum <em>Wheel Velocity PI Dmax Sum</em>}</li>
* <li>{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelVelocityPIDmaxVal <em>Wheel Velocity PI Dmax Val</em>}</li>
* </ul>
* </p>
*
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem()
* @model
* @generated
*/
public interface SteeredWheelSystem extends LocomotionSystem {
/**
* Returns the value of the '<em><b>Wheel Radius</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Wheel Radius</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Wheel Radius</em>' attribute.
* @see #setWheelRadius(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_WheelRadius()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getWheelRadius();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelRadius <em>Wheel Radius</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Wheel Radius</em>' attribute.
* @see #getWheelRadius()
* @generated
*/
void setWheelRadius(float value);
/**
* Returns the value of the '<em><b>Wheel Width</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Wheel Width</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Wheel Width</em>' attribute.
* @see #setWheelWidth(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_WheelWidth()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getWheelWidth();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelWidth <em>Wheel Width</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Wheel Width</em>' attribute.
* @see #getWheelWidth()
* @generated
*/
void setWheelWidth(float value);
/**
* Returns the value of the '<em><b>Suspension Rest Length</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Suspension Rest Length</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Suspension Rest Length</em>' attribute.
* @see #setSuspensionRestLength(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_SuspensionRestLength()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getSuspensionRestLength();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getSuspensionRestLength <em>Suspension Rest Length</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Suspension Rest Length</em>' attribute.
* @see #getSuspensionRestLength()
* @generated
*/
void setSuspensionRestLength(float value);
/**
* Returns the value of the '<em><b>Wheel Connection Height</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Wheel Connection Height</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Wheel Connection Height</em>' attribute.
* @see #setWheelConnectionHeight(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_WheelConnectionHeight()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getWheelConnectionHeight();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelConnectionHeight <em>Wheel Connection Height</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Wheel Connection Height</em>' attribute.
* @see #getWheelConnectionHeight()
* @generated
*/
void setWheelConnectionHeight(float value);
/**
* Returns the value of the '<em><b>Type Of Wheel</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Type Of Wheel</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Type Of Wheel</em>' attribute.
* @see #setTypeOfWheel(String)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_TypeOfWheel()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.String" required="true" ordered="false"
* @generated
*/
String getTypeOfWheel();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getTypeOfWheel <em>Type Of Wheel</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Type Of Wheel</em>' attribute.
* @see #getTypeOfWheel()
* @generated
*/
void setTypeOfWheel(String value);
/**
* Returns the value of the '<em><b>Wheel Velocity PI Dkp</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Wheel Velocity PI Dkp</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Wheel Velocity PI Dkp</em>' attribute.
* @see #setWheelVelocityPIDkp(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_WheelVelocityPIDkp()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getWheelVelocityPIDkp();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelVelocityPIDkp <em>Wheel Velocity PI Dkp</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Wheel Velocity PI Dkp</em>' attribute.
* @see #getWheelVelocityPIDkp()
* @generated
*/
void setWheelVelocityPIDkp(float value);
/**
* Returns the value of the '<em><b>Wheel Velocity PI Dki</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Wheel Velocity PI Dki</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Wheel Velocity PI Dki</em>' attribute.
* @see #setWheelVelocityPIDki(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_WheelVelocityPIDki()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getWheelVelocityPIDki();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelVelocityPIDki <em>Wheel Velocity PI Dki</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Wheel Velocity PI Dki</em>' attribute.
* @see #getWheelVelocityPIDki()
* @generated
*/
void setWheelVelocityPIDki(float value);
/**
* Returns the value of the '<em><b>Wheel Velocity PI Dkd</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Wheel Velocity PI Dkd</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Wheel Velocity PI Dkd</em>' attribute.
* @see #setWheelVelocityPIDkd(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_WheelVelocityPIDkd()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getWheelVelocityPIDkd();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelVelocityPIDkd <em>Wheel Velocity PI Dkd</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Wheel Velocity PI Dkd</em>' attribute.
* @see #getWheelVelocityPIDkd()
* @generated
*/
void setWheelVelocityPIDkd(float value);
/**
* Returns the value of the '<em><b>Wheel Steering PI Dkp</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Wheel Steering PI Dkp</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Wheel Steering PI Dkp</em>' attribute.
* @see #setWheelSteeringPIDkp(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_WheelSteeringPIDkp()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getWheelSteeringPIDkp();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelSteeringPIDkp <em>Wheel Steering PI Dkp</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Wheel Steering PI Dkp</em>' attribute.
* @see #getWheelSteeringPIDkp()
* @generated
*/
void setWheelSteeringPIDkp(float value);
/**
* Returns the value of the '<em><b>Wheel Steering PI Dkd</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Wheel Steering PI Dkd</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Wheel Steering PI Dkd</em>' attribute.
* @see #setWheelSteeringPIDkd(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_WheelSteeringPIDkd()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getWheelSteeringPIDkd();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelSteeringPIDkd <em>Wheel Steering PI Dkd</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Wheel Steering PI Dkd</em>' attribute.
* @see #getWheelSteeringPIDkd()
* @generated
*/
void setWheelSteeringPIDkd(float value);
/**
* Returns the value of the '<em><b>Wheel Friction</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Wheel Friction</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Wheel Friction</em>' attribute.
* @see #setWheelFriction(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_WheelFriction()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getWheelFriction();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelFriction <em>Wheel Friction</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Wheel Friction</em>' attribute.
* @see #getWheelFriction()
* @generated
*/
void setWheelFriction(float value);
/**
* Returns the value of the '<em><b>Suspension Stiffness</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Suspension Stiffness</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Suspension Stiffness</em>' attribute.
* @see #setSuspensionStiffness(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_SuspensionStiffness()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getSuspensionStiffness();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getSuspensionStiffness <em>Suspension Stiffness</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Suspension Stiffness</em>' attribute.
* @see #getSuspensionStiffness()
* @generated
*/
void setSuspensionStiffness(float value);
/**
* Returns the value of the '<em><b>Suspension Damping</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Suspension Damping</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Suspension Damping</em>' attribute.
* @see #setSuspensionDamping(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_SuspensionDamping()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getSuspensionDamping();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getSuspensionDamping <em>Suspension Damping</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Suspension Damping</em>' attribute.
* @see #getSuspensionDamping()
* @generated
*/
void setSuspensionDamping(float value);
/**
* Returns the value of the '<em><b>Suspension Compression</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Suspension Compression</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Suspension Compression</em>' attribute.
* @see #setSuspensionCompression(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_SuspensionCompression()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getSuspensionCompression();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getSuspensionCompression <em>Suspension Compression</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Suspension Compression</em>' attribute.
* @see #getSuspensionCompression()
* @generated
*/
void setSuspensionCompression(float value);
/**
* Returns the value of the '<em><b>Wheel Velocity PI Dmax Sum</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Wheel Velocity PI Dmax Sum</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Wheel Velocity PI Dmax Sum</em>' attribute.
* @see #setWheelVelocityPIDmaxSum(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_WheelVelocityPIDmaxSum()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getWheelVelocityPIDmaxSum();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelVelocityPIDmaxSum <em>Wheel Velocity PI Dmax Sum</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Wheel Velocity PI Dmax Sum</em>' attribute.
* @see #getWheelVelocityPIDmaxSum()
* @generated
*/
void setWheelVelocityPIDmaxSum(float value);
/**
* Returns the value of the '<em><b>Wheel Velocity PI Dmax Val</b></em>' attribute.
* <!-- begin-user-doc -->
* <p>
* If the meaning of the '<em>Wheel Velocity PI Dmax Val</em>' attribute isn't clear, there really should be more of a description here...
* </p>
* <!-- end-user-doc -->
*
* @return the value of the '<em>Wheel Velocity PI Dmax Val</em>' attribute.
* @see #setWheelVelocityPIDmaxVal(float)
* @see org.eclipse.papyrus.RobotML.RobotMLPackage#getSteeredWheelSystem_WheelVelocityPIDmaxVal()
* @model dataType="org.eclipse.papyrus.RobotMLLibraries.RobotML_ModelLibrary.RobotML_DataTypes.std_datatypes.Float32" required="true" ordered="false"
* @generated
*/
float getWheelVelocityPIDmaxVal();
/**
* Sets the value of the '{@link org.eclipse.papyrus.RobotML.SteeredWheelSystem#getWheelVelocityPIDmaxVal <em>Wheel Velocity PI Dmax Val</em>}' attribute.
* <!-- begin-user-doc -->
* <!-- end-user-doc -->
*
* @param value
* the new value of the '<em>Wheel Velocity PI Dmax Val</em>' attribute.
* @see #getWheelVelocityPIDmaxVal()
* @generated
*/
void setWheelVelocityPIDmaxVal(float value);
} // SteeredWheelSystem
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