// Use this for initialization
void Start()
{
// Add the corresponding motion model
switch (motionModel){
case GlobalControl.motionModels.DISCRETE:{
MoveDiscrete control = (MoveDiscrete)gameObject.AddComponent ("MoveDiscrete");
controller = new PController(control);
break;
}
case GlobalControl.motionModels.KINEMATIC:{
MoveKinematic control = (MoveKinematic)gameObject.AddComponent ("MoveKinematic");
controller = new PController(control);
break;
}
case GlobalControl.motionModels.DYNAMIC:{
MoveDynamic control = (MoveDynamic)gameObject.AddComponent ("MoveDynamic");
controller = new PDController(control);
break;
}
case GlobalControl.motionModels.DIFFERENTIAL:{
MoveDifferential control = (MoveDifferential)gameObject.AddComponent ("MoveDifferential");
controller = new PController(control);
controller.setKp(0.1f);
controller.setKpw(0.1f);
controller.setKd (5f);
break;
}
case GlobalControl.motionModels.CAR:{
MoveCar control = (MoveCar)gameObject.AddComponent ("MoveCar");
controller = new PController(control);
break;
}
}
}
