com.yobotics.simulationconstructionset.util
Class ExperimentalLinearStickSlipGroundContactModel

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

public class ExperimentalLinearStickSlipGroundContactModel
extends java.lang.Object
implements GroundContactModel

See Also:
Serialized Form

Constructor Summary
ExperimentalLinearStickSlipGroundContactModel(Robot rob, double k_xy, double b_xy, double k_z, double b_z, double alpha_slip, double alpha_stick, YoVariableRegistry parentRegistry)
           
ExperimentalLinearStickSlipGroundContactModel(Robot rob, double alpha_slip, double alpha_stick, YoVariableRegistry parentRegistry)
           
ExperimentalLinearStickSlipGroundContactModel(Robot rob, DoubleYoVariable k_xy, DoubleYoVariable b_xy, DoubleYoVariable k_z, DoubleYoVariable b_z, DoubleYoVariable alpha_slip, DoubleYoVariable alpha_stick, YoVariableRegistry parentRegistry)
           
ExperimentalLinearStickSlipGroundContactModel(Robot rob, int groundContactGroupIdentifier, double k_xy, double b_xy, double k_z, double b_z, double alpha_slip, double alpha_stick, YoVariableRegistry parentRegistry)
           
ExperimentalLinearStickSlipGroundContactModel(Robot rob, int groundContactGroupIdentifier, DoubleYoVariable k_xy, DoubleYoVariable b_xy, DoubleYoVariable k_z, DoubleYoVariable b_z, DoubleYoVariable alpha_slip, DoubleYoVariable alpha_stick, YoVariableRegistry parentRegistry)
           
ExperimentalLinearStickSlipGroundContactModel(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

ExperimentalLinearStickSlipGroundContactModel

public ExperimentalLinearStickSlipGroundContactModel(Robot rob,
                                                     YoVariableRegistry parentRegistry)

ExperimentalLinearStickSlipGroundContactModel

public ExperimentalLinearStickSlipGroundContactModel(Robot rob,
                                                     double alpha_slip,
                                                     double alpha_stick,
                                                     YoVariableRegistry parentRegistry)

ExperimentalLinearStickSlipGroundContactModel

public ExperimentalLinearStickSlipGroundContactModel(Robot rob,
                                                     double k_xy,
                                                     double b_xy,
                                                     double k_z,
                                                     double b_z,
                                                     double alpha_slip,
                                                     double alpha_stick,
                                                     YoVariableRegistry parentRegistry)

ExperimentalLinearStickSlipGroundContactModel

public ExperimentalLinearStickSlipGroundContactModel(Robot rob,
                                                     int groundContactGroupIdentifier,
                                                     double k_xy,
                                                     double b_xy,
                                                     double k_z,
                                                     double b_z,
                                                     double alpha_slip,
                                                     double alpha_stick,
                                                     YoVariableRegistry parentRegistry)

ExperimentalLinearStickSlipGroundContactModel

public ExperimentalLinearStickSlipGroundContactModel(Robot rob,
                                                     DoubleYoVariable k_xy,
                                                     DoubleYoVariable b_xy,
                                                     DoubleYoVariable k_z,
                                                     DoubleYoVariable b_z,
                                                     DoubleYoVariable alpha_slip,
                                                     DoubleYoVariable alpha_stick,
                                                     YoVariableRegistry parentRegistry)

ExperimentalLinearStickSlipGroundContactModel

public ExperimentalLinearStickSlipGroundContactModel(Robot rob,
                                                     int groundContactGroupIdentifier,
                                                     DoubleYoVariable k_xy,
                                                     DoubleYoVariable b_xy,
                                                     DoubleYoVariable k_z,
                                                     DoubleYoVariable b_z,
                                                     DoubleYoVariable alpha_slip,
                                                     DoubleYoVariable alpha_stick,
                                                     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