com.yobotics.simulationconstructionset.util.tracks
Class Track

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.tracks.Track
All Implemented Interfaces:
FunctionToIntegrate

public class Track
extends java.lang.Object
implements FunctionToIntegrate


Constructor Summary
Track(java.lang.String name, Joint joint, Robot rob, javax.vecmath.Vector3d offset, javax.vecmath.Matrix3d rotation, double trackLength, double trackRadius, double trackWidth, int numPointsPerTread, int numTreads)
           
 
Method Summary
 void addTrackGraphics(Link link, AppearanceDefinition appearance)
           
 double[] computeDerivativeVector()
           
 DoubleYoVariable getLinearForce()
           
 DoubleYoVariable getLinearPosition()
           
 DoubleYoVariable getLinearVelocity()
           
 java.lang.String getName()
           
 DoubleYoVariable[] getOutputVariables()
           
 java.util.ArrayList<TrackGroundContactPoint> getTrackGroundContactPoints()
           
 int getVectorSize()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

Track

public Track(java.lang.String name,
             Joint joint,
             Robot rob,
             javax.vecmath.Vector3d offset,
             javax.vecmath.Matrix3d rotation,
             double trackLength,
             double trackRadius,
             double trackWidth,
             int numPointsPerTread,
             int numTreads)
Method Detail

getName

public java.lang.String getName()

getLinearVelocity

public DoubleYoVariable getLinearVelocity()

getLinearPosition

public DoubleYoVariable getLinearPosition()

getLinearForce

public DoubleYoVariable getLinearForce()

addTrackGraphics

public void addTrackGraphics(Link link,
                             AppearanceDefinition appearance)

computeDerivativeVector

public double[] computeDerivativeVector()
Specified by:
computeDerivativeVector in interface FunctionToIntegrate

getVectorSize

public int getVectorSize()
Specified by:
getVectorSize in interface FunctionToIntegrate

getOutputVariables

public DoubleYoVariable[] getOutputVariables()
Specified by:
getOutputVariables in interface FunctionToIntegrate

getTrackGroundContactPoints

public java.util.ArrayList<TrackGroundContactPoint> getTrackGroundContactPoints()