com.yobotics.simulationconstructionset.util
Class CollisionGroundContactModel

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.CollisionGroundContactModel
All Implemented Interfaces:
GroundContactModel, MovingGroundContactModel, java.io.Serializable

public class CollisionGroundContactModel
extends java.lang.Object
implements GroundContactModel, MovingGroundContactModel

See Also:
Serialized Form

Constructor Summary
CollisionGroundContactModel(Robot rob, double epsilon, double mu, YoVariableRegistry parentRegistry)
           
CollisionGroundContactModel(Robot rob, int groundContactGroupIdentifier, double epsilon, double mu, YoVariableRegistry parentRegistry)
           
CollisionGroundContactModel(Robot rob, YoVariableRegistry parentRegistry)
           
 
Method Summary
 void doGroundContact()
           
 GroundProfile getGroundProfile()
           
 void setGroundProfile(GroundProfile profile)
           
 void setGroundProfile(MovingGroundProfile profile)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

CollisionGroundContactModel

public CollisionGroundContactModel(Robot rob,
                                   YoVariableRegistry parentRegistry)

CollisionGroundContactModel

public CollisionGroundContactModel(Robot rob,
                                   double epsilon,
                                   double mu,
                                   YoVariableRegistry parentRegistry)

CollisionGroundContactModel

public CollisionGroundContactModel(Robot rob,
                                   int groundContactGroupIdentifier,
                                   double epsilon,
                                   double mu,
                                   YoVariableRegistry parentRegistry)
Method Detail

setGroundProfile

public void setGroundProfile(GroundProfile profile)
Specified by:
setGroundProfile in interface GroundContactModel

setGroundProfile

public void setGroundProfile(MovingGroundProfile profile)
Specified by:
setGroundProfile in interface MovingGroundContactModel

getGroundProfile

public GroundProfile getGroundProfile()
Specified by:
getGroundProfile in interface GroundContactModel
Specified by:
getGroundProfile in interface MovingGroundContactModel

doGroundContact

public void doGroundContact()
Specified by:
doGroundContact in interface GroundContactModel
Specified by:
doGroundContact in interface MovingGroundContactModel