com.yobotics.simulationconstructionset.util
Class LinearStickSlipGroundContactModel

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

public class LinearStickSlipGroundContactModel
extends java.lang.Object
implements GroundContactModel

See Also:
Serialized Form

Constructor Summary
LinearStickSlipGroundContactModel(Robot robot, double kXY, double b_xy, double k_z, double b_z, double alpha_slip, double alpha_stick, YoVariableRegistry parentRegistry)
           
LinearStickSlipGroundContactModel(Robot robot, double alphaSlip, double alphaStick, YoVariableRegistry parentRegistry)
           
LinearStickSlipGroundContactModel(Robot rob, int groundContactGroupIdentifier, double groundKxy, double groundBxy, double groundKz, double groundBz, double groundAlphaSlip, double groundAlphaStick, YoVariableRegistry parentRegistry)
           
LinearStickSlipGroundContactModel(Robot rob, YoVariableRegistry parentRegistry)
           
 
Method Summary
 void doGroundContact()
           
 GroundProfile getGroundProfile()
           
 void setGroundProfile(GroundProfile profile)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

LinearStickSlipGroundContactModel

public LinearStickSlipGroundContactModel(Robot rob,
                                         YoVariableRegistry parentRegistry)

LinearStickSlipGroundContactModel

public LinearStickSlipGroundContactModel(Robot robot,
                                         double alphaSlip,
                                         double alphaStick,
                                         YoVariableRegistry parentRegistry)

LinearStickSlipGroundContactModel

public LinearStickSlipGroundContactModel(Robot robot,
                                         double kXY,
                                         double b_xy,
                                         double k_z,
                                         double b_z,
                                         double alpha_slip,
                                         double alpha_stick,
                                         YoVariableRegistry parentRegistry)

LinearStickSlipGroundContactModel

public LinearStickSlipGroundContactModel(Robot rob,
                                         int groundContactGroupIdentifier,
                                         double groundKxy,
                                         double groundBxy,
                                         double groundKz,
                                         double groundBz,
                                         double groundAlphaSlip,
                                         double groundAlphaStick,
                                         YoVariableRegistry parentRegistry)
Method Detail

setGroundProfile

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

getGroundProfile

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

doGroundContact

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