com.yobotics.simulationconstructionset
Class ExternalForcePoint
java.lang.Object
com.yobotics.simulationconstructionset.KinematicPoint
com.yobotics.simulationconstructionset.ExternalForcePoint
- All Implemented Interfaces:
- java.io.Serializable
- Direct Known Subclasses:
- GroundContactPoint
public class ExternalForcePoint
- extends KinematicPoint
- See Also:
- Serialized Form
Method Summary |
void |
getForce(javax.vecmath.Vector3d vectorToPack)
|
YoFrameVector |
getYoForce()
|
void |
resolveCollision(ExternalForcePoint externalForcePoint,
javax.vecmath.Vector3d normal_world,
double epsilon,
double mu,
javax.vecmath.Vector3d p_world)
|
void |
resolveCollision(javax.vecmath.Vector3d vel_world,
javax.vecmath.Vector3d normal_world,
double epsilon,
double mu,
javax.vecmath.Vector3d p_world)
|
void |
resolveMicroCollision(double penetration_squared,
javax.vecmath.Vector3d vel_world,
javax.vecmath.Vector3d normal_world,
double epsilon,
double mu,
javax.vecmath.Vector3d p_world)
|
void |
setForce(double fx,
double fy,
double fz)
|
void |
setForce(javax.vecmath.Vector3d force)
|
java.lang.String |
toString()
|
Methods inherited from class com.yobotics.simulationconstructionset.KinematicPoint |
getKinematicPointUpdater, getName, getOffset, getOffsetCopy, getParentJoint, getPosition, getPositionPoint, getVelocity, getVelocityVector, getYoPosition, getYoVelocity, setKinematicPointUpdater, setOffsetJoint, setOffsetJoint, setOffsetWorld, setOffsetWorld, setParentJoint |
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
fx
public DoubleYoVariable fx
fy
public DoubleYoVariable fy
fz
public DoubleYoVariable fz
px
public DoubleYoVariable px
py
public DoubleYoVariable py
pz
public DoubleYoVariable pz
ExternalForcePoint
public ExternalForcePoint(java.lang.String name,
Robot rob)
ExternalForcePoint
public ExternalForcePoint(java.lang.String name,
javax.vecmath.Vector3d offset,
Robot rob)
toString
public java.lang.String toString()
- Overrides:
toString
in class KinematicPoint
resolveCollision
public void resolveCollision(ExternalForcePoint externalForcePoint,
javax.vecmath.Vector3d normal_world,
double epsilon,
double mu,
javax.vecmath.Vector3d p_world)
resolveCollision
public void resolveCollision(javax.vecmath.Vector3d vel_world,
javax.vecmath.Vector3d normal_world,
double epsilon,
double mu,
javax.vecmath.Vector3d p_world)
resolveMicroCollision
public void resolveMicroCollision(double penetration_squared,
javax.vecmath.Vector3d vel_world,
javax.vecmath.Vector3d normal_world,
double epsilon,
double mu,
javax.vecmath.Vector3d p_world)
getForce
public void getForce(javax.vecmath.Vector3d vectorToPack)
setForce
public void setForce(javax.vecmath.Vector3d force)
setForce
public void setForce(double fx,
double fy,
double fz)
getYoForce
public YoFrameVector getYoForce()