com.yobotics.simulationconstructionset.simulatedSensors
Class SingleRigidBodyRobot
java.lang.Object
com.yobotics.simulationconstructionset.Robot
com.yobotics.simulationconstructionset.simulatedSensors.SingleRigidBodyRobot
- All Implemented Interfaces:
- YoVariableHolder, java.io.Serializable
public class SingleRigidBodyRobot
- extends Robot
- See Also:
- Serialized Form
Field Summary |
static double |
Iyy1
|
static double |
Iyy2
|
static double |
L1
|
static double |
L2
|
static double |
M1
|
static double |
M2
|
static double |
R1
|
static double |
R2
|
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 |
L1
public static final double L1
- See Also:
- Constant Field Values
L2
public static final double L2
- See Also:
- Constant Field Values
M1
public static final double M1
- See Also:
- Constant Field Values
M2
public static final double M2
- See Also:
- Constant Field Values
R1
public static final double R1
- See Also:
- Constant Field Values
R2
public static final double R2
- See Also:
- Constant Field Values
Iyy1
public static final double Iyy1
- See Also:
- Constant Field Values
Iyy2
public static final double Iyy2
- See Also:
- Constant Field Values
SingleRigidBodyRobot
public SingleRigidBodyRobot()
getTransformToWorld
public void getTransformToWorld(javax.media.j3d.Transform3D transformToPack)
getBodyVelocity
public FrameVector getBodyVelocity()
getBodyAcceleration
public FrameVector getBodyAcceleration()
getBodyAngularVelocityInBodyFrame
public FrameVector getBodyAngularVelocityInBodyFrame(ReferenceFrame bodyFrame)
getBodyAngularAccelerationInBodyFrame
public FrameVector getBodyAngularAccelerationInBodyFrame(ReferenceFrame bodyFrame)
setAngularVelocity
public void setAngularVelocity(javax.vecmath.Vector3d angularVelocity)
setLinearVelocity
public void setLinearVelocity(javax.vecmath.Vector3d linearVelocity)
setPosition
public void setPosition(javax.vecmath.Vector3d bodyPosition)
setYawPitchRoll
public void setYawPitchRoll(double yaw,
double pitch,
double roll)
setExternalForce
public void setExternalForce(javax.vecmath.Vector3d force)