com.yobotics.simulationconstructionset.util.tracks
Class Track
java.lang.Object
com.yobotics.simulationconstructionset.util.tracks.Track
- All Implemented Interfaces:
- FunctionToIntegrate
public class Track
- extends java.lang.Object
- implements FunctionToIntegrate
Constructor Summary |
Track(java.lang.String name,
Joint joint,
Robot rob,
javax.vecmath.Vector3d offset,
javax.vecmath.Matrix3d rotation,
double trackLength,
double trackRadius,
double trackWidth,
int numPointsPerTread,
int numTreads)
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Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Track
public Track(java.lang.String name,
Joint joint,
Robot rob,
javax.vecmath.Vector3d offset,
javax.vecmath.Matrix3d rotation,
double trackLength,
double trackRadius,
double trackWidth,
int numPointsPerTread,
int numTreads)
getName
public java.lang.String getName()
getLinearVelocity
public DoubleYoVariable getLinearVelocity()
getLinearPosition
public DoubleYoVariable getLinearPosition()
getLinearForce
public DoubleYoVariable getLinearForce()
addTrackGraphics
public void addTrackGraphics(Link link,
AppearanceDefinition appearance)
computeDerivativeVector
public double[] computeDerivativeVector()
- Specified by:
computeDerivativeVector
in interface FunctionToIntegrate
getVectorSize
public int getVectorSize()
- Specified by:
getVectorSize
in interface FunctionToIntegrate
getOutputVariables
public DoubleYoVariable[] getOutputVariables()
- Specified by:
getOutputVariables
in interface FunctionToIntegrate
getTrackGroundContactPoints
public java.util.ArrayList<TrackGroundContactPoint> getTrackGroundContactPoints()