com.yobotics.simulationconstructionset.util.environments
Class ContactablePinJointRobot
java.lang.Object
com.yobotics.simulationconstructionset.Robot
com.yobotics.simulationconstructionset.util.environments.ContactablePinJointRobot
- All Implemented Interfaces:
- Contactable, YoVariableHolder, java.io.Serializable
- Direct Known Subclasses:
- ContactableToroidRobot
public abstract class ContactablePinJointRobot
- 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 |
ContactablePinJointRobot
public ContactablePinJointRobot(java.lang.String name)
getPinJoint
public abstract PinJoint getPinJoint()
setMass
public abstract void setMass(double mass)
setMomentOfInertia
public abstract void setMomentOfInertia(double Ixx,
double Iyy,
double Izz)
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
setPosition
public void setPosition(double angle)
setVelocity
public void setVelocity(double angleDerivative)
setPositionAndVelocity
public void setPositionAndVelocity(double angle,
double angleDerivative)
getBodyTransformToWorld
public void getBodyTransformToWorld(javax.media.j3d.Transform3D transformToWorld)
getVelocity
public double getVelocity()
getPosition
public double getPosition()