com.yobotics.simulationconstructionset.util.environments
Class ContactableStaticRobot
java.lang.Object
com.yobotics.simulationconstructionset.Robot
com.yobotics.simulationconstructionset.util.environments.ContactableStaticRobot
- All Implemented Interfaces:
- Contactable, YoVariableHolder, java.io.Serializable
- Direct Known Subclasses:
- ContactableStaticCylinderRobot
public abstract class ContactableStaticRobot
- extends Robot
- implements Contactable
- See Also:
- Serialized Form
Methods inherited from class com.yobotics.simulationconstructionset.Robot |
addDynamicGraphicObjectsListRegistry, addFunctionToIntegrate, addRootJoint, addStaticLink, addStaticLinkGraphics, addStaticLinkGraphics, addYoVariableRegistry, computeAngularMomentum, computeAngularMomentum, computeCenterOfMass, computeCenterOfMass, computeCenterOfPressure, computeCOMMomentum, computeCOMMomentum, computeGravitationalPotentialEnergy, computeGravitationalPotentialEnergy, computeLinearMomentum, computeLinearMomentum, computeRotationalKineticEnergy, computeRotationalKineticEnergy, computeTranslationalKineticEnergy, computeTranslationalKineticEnergy, createAllVarLists, decideGroundContactPointsInContact, doAfterControlBeforeDynamics, doDynamicsAndIntegrate, doDynamicsButDoNotIntegrate, getAllExternalForcePoints, getAllGroundContactPoints, getAllKinematicPoints, getAllOneDegreeOfFreedomJoints, getAllVariables, getAllVariablesArray, getCameraMountList, getControllers, getGravity, getGravityX, getGravityY, getGravityZ, getGroundContactModel, getGroundContactPoints, getIMUMounts, getName, getRobotsYoVariableRegistry, getRootJoints, getSensors, getSensors, getSimulationRewoundListeners, getStaticLinkGraphics, getTime, getVariable, getVariable, getVariables, getVariables, getVariables, getYoTime, hasUniqueVariable, hasUniqueVariable, setBodyExternalForcePoint, setController, setController, setController, setControllersAndCallInitialization, setDynamic, setDynamicIntegrationMethod, setGravity, setGravity, setGravity, setGroundContactModel, setTime, toString, update, updateAllGroundContactPointVelocities, updateForPlayback, updateVelocities |
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
ContactableStaticRobot
public ContactableStaticRobot(java.lang.String name)
getNullJoint
public abstract NullJoint getNullJoint()
createAvailableContactPoints
public void createAvailableContactPoints(int groupIdentifier,
int totalContactPointsAvailable,
double forceVectorScale,
boolean addDynamicGraphicForceVectorsForceVectors)
getAndLockAvailableContactPoint
public int getAndLockAvailableContactPoint()
- Specified by:
getAndLockAvailableContactPoint
in interface Contactable
unlockContactPoint
public void unlockContactPoint(GroundContactPoint groundContactPoint)
- Specified by:
unlockContactPoint
in interface Contactable
getLockedContactPoint
public GroundContactPoint getLockedContactPoint(int contactPointIndex)
- Specified by:
getLockedContactPoint
in interface Contactable
updateContactPoints
public void updateContactPoints()
- Specified by:
updateContactPoints
in interface Contactable
getBodyTransformToWorld
public void getBodyTransformToWorld(javax.media.j3d.Transform3D transformToWorld)