com.yobotics.simulationconstructionset.simulatedSensors
Class SingleRigidBodyRobot

java.lang.Object
  extended by com.yobotics.simulationconstructionset.Robot
      extended by 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
           
 
Constructor Summary
SingleRigidBodyRobot()
           
 
Method Summary
 FrameVector getBodyAcceleration()
           
 FrameVector getBodyAngularAccelerationInBodyFrame(ReferenceFrame bodyFrame)
           
 FrameVector getBodyAngularVelocityInBodyFrame(ReferenceFrame bodyFrame)
           
 FrameVector getBodyVelocity()
           
 void getTransformToWorld(javax.media.j3d.Transform3D transformToPack)
           
 void setAngularVelocity(javax.vecmath.Vector3d angularVelocity)
           
 void setExternalForce(javax.vecmath.Vector3d force)
           
 void setLinearVelocity(javax.vecmath.Vector3d linearVelocity)
           
 void setPosition(javax.vecmath.Vector3d bodyPosition)
           
 void setYawPitchRoll(double yaw, double pitch, double roll)
           
 
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
 

Field Detail

L1

public static final double L1
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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
Constructor Detail

SingleRigidBodyRobot

public SingleRigidBodyRobot()
Method Detail

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)